Nozzles with interchangeable inserts for precision application of crop protectant

ABSTRACT

A treatment system for spraying treatment fluid onto plants in a field is described. The treatment system includes a configurable treatment mechanism including an array of nozzles and valve assemblies coupled into manifolds, and manifold assemblies. The nozzle comprises a nozzle housing and an insert assembly contained within the nozzle housing. When coupled, a top casing including a fluid inlet and a bottom casing including at least one fluid outlet form the nozzle housing. The insert assembly comprises at least one nozzle insert to fluidically couple the fluid inlet and the fluid outlets such that fluid entering from the fluid inlet exits the nozzle housing through the fluid outlets.

BACKGROUND Field of Disclosure

This application relates to a system for applying treatment fluid toplants in a field, and more specifically to nozzle structures fordispensing treatment fluid.

Description of the Related Art

Current methods of spraying crop protectant on a post-emergent croptypically fall in two categories: a total field broadcast sprayer, or ahooded broadcast sprayer. A total field broadcast sprayerindiscriminately applies treatment fluid to crops in a field, while thehooded broadcast sprayer introduces components to limit the ability ofthe treatment fluid to affect crops in adjacent fields. The resolutionof these sprayers is minimal, with the broadcast sprayers generallyapplied on a field level.

There are a few broadcast sprayers that limit the amount of sprayapplied to a field by applying color recognition software to a cameracoupled to the detect the presence of ‘green’ to indicate plants tospray. To date there is no solution for sprayers to apply treatments totargeted areas in a more specific way than ‘green/not green,’ nor isthere a way to apply treatment to plants in rows having varying crop rowwidths with minimal overspray, and further no way to accomplish variablespray patterns.

SUMMARY

Described is a nozzle for dispensing a treatment fluid to one or moreplants in a field. The nozzles each include a top casing and a bottomcasing removably coupled to form a nozzle housing. The top casingincludes a fluid inlet through which treatment fluid can enter thenozzle housing and the bottom casing includes at least one insertopening through which treatment fluid can exit the nozzle housing. Thelength of the bottom casing of the nozzle housing can vary andresultantly the number of insert openings included in the bottom casingcan vary as well. Accordingly, the nozzle can be any number of sizes.

An insert assembly is positioned within a fill cavity created by thecoupled bottom casing and top casing. The insert assembly includes atleast one nozzle insert that fluidically couples the fluid inlet and theinsert opening. Treatment fluid enters the nozzle via the fluid inlet,passes through the nozzle insert towards the insert opening, and exitsthe nozzle towards the field through the nozzle outlet. The size of theinsert assembly can be based on the size of the nozzle and the number ofinsert openings. The structure of the insert assembly affectscharacteristics of the treatment fluid when exiting the nozzle. Thecharacteristics can include the spray pattern, droplet size, and theflow rate.

The fluid inlet of each nozzle is coupled to a valve assemblycontrolling the volume of treatment fluid entering the fluid inlet and amanifold assembly to position the nozzle above plants as the machinetravels through the field. Multiple nozzles including any number ofnozzle inserts may be simultaneously coupled to a single manifoldassembly to expand the range of the treatment fluid being sprayed overthe field. Nozzles can be coupled to a manifold assembly that rotates toadjust the angle of the treatment fluid as it exits the nozzle such thatthe machine more effectively dispenses treatment fluid to plants ofdifferent heights as it passes through the field.

BRIEF DESCRIPTION OF DRAWINGS

Figure (FIG. 1A is a side view illustration of a system for applying atreatment fluid to plants in a field, according to one embodiment.

FIG. 1B is a front view illustration of a system for applying atreatment fluid to plants in a field, according to one embodiment.

FIG. 1C is an illustration of the fluidic components and couplings ofthe system, according to one example embodiment.

FIG. 1D is an illustration of the fluidic components and coupling of thesystem including front and back pressure regulators, according to oneexample embodiment.

FIG. 2A illustrates a tube manifold assembly, in one example embodiment.

FIG. 2B illustrates a front view of a tube manifold, in one exampleembodiment.

FIG. 2C illustrates a front view of a middle cassette of a tubemanifold, in one example embodiment.

FIG. 2D illustrates a front view of right cassette of a tube manifold,in one example embodiment.

FIG. 2E illustrates a front view of a tube manifold, according to oneexample embodiment.

FIG. 2F illustrates an isometric view of a tube manifold, according toone example embodiment.

FIG. 2G illustrates a side view of a tube manifold including a rotationmechanism in a normal position, according to one example embodiment.

FIG. 2H illustrates a side view of a tube manifold including a rotationmechanism rotated away from the normal position, according to oneexample embodiment.

FIG. 3A illustrates an offset manifold assembly, in one exampleembodiment.

FIG. 3B illustrates an offset manifold assembly in a nested state, inone example embodiment.

FIG. 3C illustrates an isometric view of the offset manifold, in oneexample embodiment.

FIG. 3D illustrates a plan view of the bottom of the offset manifold, inone example embodiment.

FIG. 4A illustrates a cross-sectional view of a valve assembly, in oneexample embodiment.

FIG. 4B illustrates a cross-sectional view of a valve assemblyconfigured to couple to a tube manifold, in one example embodiment.

FIG. 4C illustrates a cross-sectional view of a valve assemblyconfigured to couple to an offset manifold, in one example embodiment.

FIG. 5A illustrates a cross-sectional view of a nozzle from the frontside, in one example embodiment.

FIG. 5B illustrates a cross-sectional view of a nozzle from the leftside, in one example embodiment.

FIG. 6A illustrates an isometric view of components for a nozzle, in oneexample embodiment.

FIG. 6B illustrates an isometric view of components for a nozzle withcouple components, in one example embodiment.

FIG. 6C illustrates a cross-sectional view of a nozzle, in one exampleembodiment.

FIG. 6D illustrates a front view of a nozzle with a coupled top casingand bottom casing, in one example embodiment.

FIG. 6E illustrates a side view of a nozzle with a coupled top casingand bottom casing, in one example embodiment.

FIG. 6F illustrates an inverted, isometric view of a nozzle, in oneexample embodiment.

FIG. 7A illustrates an isometric view of the components of a narrownozzle, in one example embodiment.

FIG. 7B illustrates a cross-sectional view of a narrow nozzle includingan insert assembly, in one example embodiment.

FIG. 8A illustrates an isometric view of a nozzle seal for a narrownozzle, in one example embodiment.

FIG. 8B illustrates a side view of a nozzle seal for a narrow nozzle, inone example embodiment.

FIG. 8C illustrates a cross-sectional view of a nozzle body to nozzleinsert seal for a narrow nozzle, in one example embodiment.

FIG. 9A illustrates an isometric view of a nozzle insert for a nozzle,in one example embodiment.

FIG. 9B illustrates a side view of a nozzle insert for a nozzle, in oneexample embodiment.

FIG. 9C illustrates a cross-sectional view of a nozzle insert for anozzle, in one example embodiment.

FIG. 10A illustrates an isometric view of decoupled components of aninsert assembly for a narrow nozzle, in one example embodiment.

FIG. 10B illustrates an isometric view of insert assembly for a narrownozzle, in one example embodiment.

FIG. 10C illustrates an isometric view of a decoupled insert assemblyand bottom casing for a narrow nozzle, in one example embodiment.

FIG. 10D illustrates an isometric view of a coupled insert assembly andbottom casing for a narrow nozzle, in one example embodiment.

FIG. 11A illustrates an isometric view of the components of a mediumnozzle, in one example embodiment.

FIG. 11B illustrates an isometric view of a medium nozzle, in oneexample embodiment.

FIG. 11C illustrates an inverted, isometric view of a medium nozzle, inone example embodiment.

FIG. 12A illustrates an isometric view of a separated top casing andbottom casing of a wide nozzle, in one example embodiment.

FIG. 12B illustrates an isometric view of a coupled top casing andbottom casing of a wide nozzle, in one example embodiment.

FIG. 12C illustrates a cross-sectional view of a wide nozzle without aninsert assembly, in one example embodiment.

FIG. 12D illustrates an isometric view of a separated top casing andbottom casing and an insert assembly of a wide nozzle, in one exampleembodiment.

FIG. 12E illustrates a cross-sectional view of a wide nozzle with aninsert assembly, in one example embodiment.

FIG. 13A illustrates an isometric view of a nozzle seal for a widenozzle, in one example embodiment.

FIG. 13B illustrates a side view of a nozzle seal for a wide nozzle, inone example embodiment.

FIG. 13C illustrates a cross-sectional view of a nozzle seal for a widenozzle, in one example embodiment.

FIG. 14A illustrates an isometric view of a nozzle seal for a widenozzle, in one example embodiment.

FIG. 14B illustrates a side view of a nozzle seal for a wide nozzle, inone example embodiment.

FIG. 15A illustrates an isometric view of a decoupled nozzle seal andnozzle seal for a wide nozzle, in one example embodiment.

FIG. 15B illustrates an isometric view of a coupled nozzle seal andnozzle seal for a wide nozzle, in one example embodiment.

FIG. 15C illustrates an isometric view of a separated partial insertassembly and multiple nozzle inserts for a wide nozzle, in one exampleembodiment.

FIG. 15D illustrates an isometric view of a coupled partial insertassembly and multiple nozzle inserts for a wide nozzle, in one exampleembodiment.

FIG. 15E illustrates an isometric view of a decoupled top casing andinsert assembly for a wide nozzle, in one example embodiment.

FIG. 15F illustrates an isometric view of a coupled bottom casing andinsert assembly for a wide nozzle, in one example embodiment.

FIG. 16A illustrates a side view of a bolted nozzle, in one exampleembodiment.

FIG. 16B illustrates an isometric view of a bolted nozzle, in oneexample embodiment.

FIG. 16C illustrates a cross-sectional view of a bolted nozzle, in oneexample embodiment.

FIG. 17 is a diagram illustrating a control system including a plantidentification device for identifying and spraying plants in the field,according to one example embodiment.

The figures depict embodiments for purposes of illustration only. Oneskilled in the art will readily recognize from the following descriptionthat alternative embodiments of the structures and methods illustratedherein may be employed without departing from the principles of theinvention described herein.

DETAILED DESCRIPTION I. Plant Treatment System

FIG. 1A is a side view illustration of a system for applying a treatmentfluid to plants in a field and FIG. 1B is a front view illustration ofthe same system. The system 100 for plant treatment includes a detectionmechanism 110, a treatment mechanism 120, and a control system 130. Thesystem 100 can additionally include a mounting mechanism 140, averification mechanism 150, a power source, digital memory,communication apparatus, or any other suitable component.

The system 100 functions to apply a treatment to one or multiple plants102 within a geographic area 104. Often, treatments function to regulateplant growth. The treatment is directly applied to a single plant 102(e.g., hygroscopic material), but can alternatively be directly appliedto multiple plants, indirectly applied to one or more plants, applied tothe environment associated with the plant (e.g., soil, atmosphere, orother suitable portion of the plant environment adjacent to or connectedby an environmental factor, such as wind), or otherwise applied to theplants. Treatments that can be applied include necrosing the plant,necrosing a portion of the plant (e.g., pruning), regulating plantgrowth, or any other suitable plant treatment. Necrosing the plant caninclude dislodging the plant from the supporting substrate 106,incinerating a portion of the plant, applying a treatment concentrationof working fluid (e.g., fertilizer, hormone, water, etc.) to the plant,or treating the plant in any other suitable manner. Regulating plant 102growth can include promoting plant growth, promoting growth of a plantportion, hindering (e.g., retarding) plant or plant portion growth, orotherwise controlling plant growth. Examples of regulating plant 102growth includes applying growth hormone to the plant, applyingfertilizer to the plant or substrate 106, applying a disease treatmentor insect treatment to the plant, electrically stimulating the plant,watering the plant, pruning the plant, or otherwise treating the plant.Plant growth can additionally be regulated by pruning, necrosing, orotherwise treating the plants adjacent the plant.

The plants 102 can be crops, but can alternatively be weeds or any othersuitable plant. The crop may be cotton, but can alternatively belettuce, soy beans, rice, carrots, tomatoes, corn, broccoli, cabbage,potatoes, wheat or any other suitable commercial crop. The plant fieldin which the system is used is an outdoor plant field, but canalternatively be plants within a greenhouse, a laboratory, a grow house,a set of containers, a machine, or any other suitable environment. Theplants are grown in one or more plant rows (e.g., plant beds), whereinthe plant rows are parallel, but can alternatively be grown in a set ofplant pots, wherein the plant pots can be ordered into rows or matricesor be randomly distributed, or be grown in any other suitableconfiguration. The crop rows are generally spaced between 2 inches and45 inches apart (e.g. as determined from the longitudinal row axis), butcan alternatively be spaced any suitable distance apart, or havevariable spacing between multiple rows.

The plants 102 within each plant field, plant row, or plant fieldsubdivision generally includes the same type of crop (e.g. same genus,same species, etc.), but can alternatively include multiple crops (e.g.,a first and a second crop), both of which are to be treated. Each plant102 can include a stem, arranged superior (e.g., above) the substrate106, which supports the branches, leaves, and fruits of the plant. Eachplant can additionally include a root system joined to the stem, locatedinferior the substrate plane (e.g., below ground), that supports theplant position and absorbs nutrients and water from the substrate 106.The plant can be a vascular plant, non-vascular plant, ligneous plant,herbaceous plant, or be any suitable type of plant. The plant can have asingle stem, multiple stems, or any number of stems. The plant can havea tap root system or a fibrous root system. The substrate 106 is soil,but can alternatively be a sponge or any other suitable substrate.

The treatment mechanism 120 of the system 100 functions to apply atreatment to the identified plant 102. The treatment mechanism 120includes an active area 122 to which the treatment mechanism 120 appliesthe treatment. The effect of the treatment can include plant necrosis,plant growth stimulation, plant portion necrosis or removal, plantportion growth stimulation, or any other suitable treatment effect. Thetreatment can include plant 102 dislodgement from the substrate 106,severing the plant (e.g., cutting), plant incineration, electricalstimulation of the plant, fertilizer or growth hormone application tothe plant, watering the plant, light or other radiation application tothe plant, injecting one or more working fluids into the substrate 106adjacent the plant (e.g., within a threshold distance from the plant),or otherwise treating the plant. The treatment mechanism 120 is operablebetween a standby mode, wherein the treatment mechanism 120 does notapply a treatment, and a treatment mode, wherein the treatment mechanism120 is controlled by the control system 130 to apply the treatment.However, the treatment mechanism 120 can be operable in any othersuitable number of operation modes.

The system 100 can include a single treatment mechanism 120, or caninclude multiple treatment mechanisms. The multiple treatment mechanismscan be the same type of treatment mechanism, or be different types oftreatment mechanisms. The treatment mechanism 120 can be fixed (e.g.,statically coupled) to the mounting mechanism 140 or relative to thedetection mechanism 110, or actuate relative to the mounting mechanism140 or detection mechanism 110. For example, the treatment mechanism 120can rotate or translate relative to the detection mechanism 110 and/ormounting mechanism 140. In one variation, the system 100 includes anassembly of treatment mechanisms, wherein a treatment mechanism 120 (orsubcomponent of the treatment mechanism 120) of the assembly is selectedto apply the treatment to the identified plant 120 or portion of a plantin response to identification of the plant and the plant positionrelative to the assembly. In a second variation, the system 100 includesa single treatment mechanism, wherein the treatment mechanism isactuated or the system 100 moved to align the treatment mechanism 120active area 122 with the targeted plant 102. In a third variation, thesystem 100 includes an array of treatment mechanisms 120, wherein thetreatment mechanisms 120 are actuated or the system 100 is moved toalign the treatment mechanism 120 active areas 122 with the targetedplant 102 or plant segment.

In one configuration, as shown in FIG. 1C, the treatment mechanism 120can include a spray mechanism 160 wherein the active area includes aspray area. The spray mechanism functions to spray a jet or spray toapply a treatment to the active area 122, but can alternatively oradditionally function to apply a force (e.g., a cutting force) to aportion of the plant (e.g., plant stem, leaf, branch, root, or any othersuitable plant portion) or substrate, or function to treat the plant inany other suitable manner. The spray mechanism does not spray workingfluid in the standby mode, and sprays a working fluid in the treatmentmode. The working fluid can be water, fertilizer, growth hormone, or anyother suitable fluid. The working fluid is emitted (e.g., sprayed) at aspray pressure of approximately 5-30 psi, within a margin of error(e.g., a 5% margin of error, 2% margin of error, etc.), but canalternatively be emitted at a pressure of 90 psi or at any othersuitable pressure. The spray is emitted from the treatment mechanism 120when positioned within several centimeters (e.g., 1 cm, 5 cm, 10 cm,etc.) of the substrate 106 surface, but can alternatively be positioneda meter away from the substrate surface, or positioned any suitabledistance away from the substrate surface.

The spray mechanism includes a nozzle 162. The nozzle 162 is oriented ata 90 degree angle relative to the substrate plane (e.g., pointingstraight down at the substrate plane), but can alternatively be orientedat a 45 degree angle, 30 degree angle, 2 degree angle, or any othersuitable angle relative to the substrate plane. The nozzle 162 canalternatively be actuatable relative to the mounting mechanism ordetection mechanism. The nozzle 162 or its constituent components can beoperable in any suitable number of modes to produce any number of spraypatterns. Alternatively, different nozzles 162 may produce differentspray patterns.

The spray pattern is a stream of droplets, but can alternatively be ahollow cone, full cone, wide column, fan, flat spray, mist or any othersuitable spray pattern for applying treatment fluid to plants 102 in afield. The nozzle 162 can be a single-fluid nozzle, but canalternatively be a multiple-fluid nozzle. The nozzle 162 can be aplain-orifice nozzle, a shaped-orifice nozzle, a surface-impingementsingle-fluid nozzle, a pressure-swirl single-fluid spray nozzle, asolid-cone single-fluid nozzle, a compound nozzle, an internal mixtwo-fluid nozzle, external-mix two-fluid nozzle, or any other suitablenozzle. The nozzle 162 can have a fixed exit or an actuatable exit suchthat the spray pattern is configurable. Nozzle emission (e.g., nozzlespray) is controlled by a valve assembly, but can alternatively becontrolled by any other suitable control mechanism. The valve assemblycontrols the nozzle to open (e.g., spray) in response to receipt of aspray command from the control system 130, but can alternatively bepassively or mechanically controlled. Detailed configurations of variousexample nozzles that may be used with the system 100 will be describedin later sections.

The spray mechanism can additionally include a pressurization system160, including a reservoir 164 and a pump 166. The spray mechanism canadditionally include a bypass valve 168 fluidly connecting an intake 178fluidly connected to the reservoir 164, a first outtake 170 fluidlyconnected to the reservoir 164, and a second outtake 172 fluidlyconnected to the nozzle 162. There can be any number of nozzles 162fluidically coupled to the second outtake 172 via a distributionmanifold 174. The bypass valve 168 is operable between a closed modewherein the bypass valve 168 fluidly disconnects the nozzle 162 from thereservoir 164, and an open mode, wherein the bypass valve 168 fluidlyconnects the nozzle 162 to the reservoir 164, more fluidly connects theintake with the nozzle 162. The bypass valve 168 can be passive, whereinthe cracking pressure is the same as the desired spray pressure, or canbe active, wherein bypass valve actuation from the closed to open modeis actively controlled, such as by the control system 130. The bypassvalve 168 can fluidly disconnect (e.g., seal) the intake from the firstouttake 170, or fluidly connect to a distribution manifold 174. The pump166 moves fluid from the reservoir 164 to the spray pressure by pumpingthe working fluid into the intake, through the bypass valve 168, andthrough the first outtake 170 into the reservoir 164. The pump 166 canmove fluid from the reservoir 164 using secondary fluid from the ambientenvironment (e.g., from a fluid source or air), or move the workingfluid in the reservoir 164 in any other suitable manner. The bypassvalve 168 opens in response to the intake fluid pressure meeting orexceeding the desired spray pressure, such that the intake is fluidlyconnected to the nozzle 162. In this variation, the treatment mechanism120 can additionally include a pressure sensor or flow sensor thatmeasures the fluid pressure or flowrate at the nozzle 162, intake,bypass valve 168, first outtake 170, second outtake 172, or reservoir164, wherein the treatment parameters (e.g., initial spray time orposition) can be subsequently adjusted or determined based on themeasured working fluid parameters.

The spray mechanism can additionally or alternatively include asecondary reservoir 176 (e.g., accumulator) fluidly connected to thereservoir 164 and the nozzle 162, wherein the pump 166 pumps workingfluid from the reservoir 164 to the accumulator 176. The accumulator 176functions to retain a volume of working fluid sufficient to dampenpressure changes due to downstream valve actuation. The accumulator 176can additionally function to pressurize the fluid. The accumulator 176fluidly connected to the reservoir 164 between the pump 166 and thenozzle 162. The spray mechanism can additionally include a valve thatcontrols fluid flow between the accumulator 176 and the nozzle 162. Whena bypass valve 168 is used, as in the variant described above, theaccumulator 176 is fluidly connected to the intake between the pump 166and the valve 168. The accumulator 176 is connected in parallel with thenozzle 162, but can alternatively be connected in series with the nozzle162. The accumulator 176 can be additionally fluidly connected to asecondary working fluid reservoir, wherein metered amounts of secondaryworking fluid (e.g., fertilizer, growth hormone, etc.) can be providedto the accumulator 176 to mix with the primary working fluid (e.g.,water) within the accumulator 176. However, the spray mechanism caninclude any other suitable components. The pressurization system 160 orany component or subsystem of the pressurization system may beincorporated by any other component of the system 100 to facilitate thetreatment of plants in the field. In one example configuration, thesystem 100 can additionally include a mounting mechanism 140 thatfunctions to provide a mounting point for the system components. In oneexample, as shown in FIG. 1A, the mounting mechanism 140 staticallyretains and mechanically supports the positions of the detectionmechanism 110, the treatment mechanism 120, and the verificationmechanism 150 relative to a longitudinal axis of the mounting mechanism140. The mounting mechanism 140 is a chassis or frame, but canalternatively be any other suitable mounting mechanism. In someconfigurations, there may be no mounting mechanism 140, or the mountingmechanism can be incorporated into any other component of the system100.

In one example system 100, the system may also include a first set ofcoaxial wheels, each wheel of the set arranged along an opposing side ofthe mounting mechanism 140, and can additionally include a second set ofcoaxial wheels, wherein the rotational axis of the second set of wheelsis parallel the rotational axis of the first set of wheels. However, thesystem can include any suitable number of wheels in any suitableconfiguration (i.e., can also include wheel track systems). The system100 may also include a coupling mechanism 142, such as a hitch, thatfunctions to removably or statically couple to a drive mechanism, suchas a tractor, more to the rear of the drive mechanism (such that thesystem 100 is dragged behind the drive mechanism), but alternatively thefront of the drive mechanism or to the side of the drive mechanism.Alternatively, the system 100 can include the drive mechanism (e.g., amotor and drive train coupled to the first and/or second set of wheels).In other example systems, the system may have any other means oftraversing through the field.

In some example systems, the detection mechanism 110 can be mounted tothe mounting mechanism 140, such that the detection mechanism 110traverses over a geographic location before the treatment mechanism 120traverses over the geographic location. In one variation of the system100, the detection mechanism 110 is statically mounted to the mountingmechanism 140 proximal the treatment mechanism 120. In variantsincluding a verification mechanism 150, the verification mechanism 150is arranged distal to the detection mechanism 110, with the treatmentmechanism 120 arranged there between, such that the verificationmechanism 150 traverses over the geographic location after treatmentmechanism 120 traversal. However, the mounting mechanism 140 can retainthe relative positions of the system components in any other suitableconfiguration. In other systems, the detection mechanism 110 can beincorporated into any other component of the system 100.

In some configurations, the system 100 can additionally include averification mechanism 150 that functions to record a measurement of theambient environment of the system 100, which is used to verify ordetermine the extent of plant treatment. The verification mechanism 150records a measurement of the geographic area previously measured by thedetection mechanism 100. The verification mechanism 150 records ameasurement of the geographic region encompassing the plant treated bythe treatment mechanism 120. The verification mechanism measurement canadditionally be used to empirically determine (e.g., calibrate)treatment mechanism operation parameters to obtain the desired treatmenteffect. The verification mechanism 150 can be substantially similar(e.g., be the same type of mechanism as) the detection mechanism 110, orbe different from the detection mechanism 110. The verificationmechanism 150 can be a multispectral camera, a stereo camera, a CCDcamera, a single lens camera, hyperspectral imaging system, LIDAR system(light detection and ranging system), IR camera, thermal camera,humidity sensor, light sensor, temperature sensor, or any other suitablesensor. In other configurations of the system 100, the verificationmechanism 150 can be included in other components of the system.

In some configurations, the system 100 can additionally include a powersource, which functions to power the system components, including thedetection mechanism 100, control system 130, and treatment mechanism120. The power source can be mounted to the mounting mechanism 140, canbe removably coupled to the mounting mechanism 140, or can be separatefrom the system (e.g., located on the drive mechanism). The power sourcecan be a rechargeable power source (e.g., a set of rechargeablebatteries), an energy harvesting power source (e.g., a solar system), afuel consuming power source (e.g., a set of fuel cells or an internalcombustion system), or any other suitable power source. In otherconfigurations, the power source can be incorporated into any othercomponent of the system 100.

In some configurations, the system 100 can additionally include acommunication apparatus, which functions to communicate (e.g., sendand/or receive) data between the control system 130 and a set of remotedevices. The communication apparatus can be a Wi-Fi communicationsystem, a cellular communication system, a short-range communicationsystem (e.g., Bluetooth, NFC, etc.), or any other suitable communicationsystem.

In the described system 100, the treatment mechanism 120 includes anarray of manifolds, nozzles, and valve assemblies. The manifolds,nozzles, and valve assemblies, can be fluidically coupled in apressurization system 160. Nozzles and valve assemblies of the treatmentmechanism 120 spray a treatment fluid onto plants as the system passesover the plants in a field. Generally, the nozzles and valve assembliescan be grouped into any number of cassettes and groups of cassettes (orsingle cassettes) to form a nozzle manifold. That is, a cassette can bea set of valves, each with a nozzle, that are grouped together tooperate as a result of a command from the control system 130. Multiplenozzle manifolds (or a single nozzle manifold) are configured into anozzle manifold assembly and the nozzle manifold assembly isconfigurable such that the nozzle manifold assembly can be moved througha field to apply treatment to plants. While described in particularconfigurations and groupings, the groupings of nozzles, valveassemblies, cassettes, and nozzle manifolds can take any grouping orconfiguration such that the treatment mechanism 120 is able to applytreatment to plants in a field. Further, the treatment mechanism canalso be configured without any of its constituent components orgroupings (e.g. spray nozzles and valve assemblies may not grouped intoa cassette, or a treatment mechanism that is a singular nozzle manifoldand not a manifold assembly, etc. . . . ) such that the treatmentmechanism is able to apply treatment to plants in a field.

For example, in one configuration, the system includes a pressurizationsystem 160 that can include high dynamic range pressure regulators tocontrol the pressure of the treatment fluid as the treatment fluid isapplied to plants via the treatment mechanism 120. That is, the pressureregulators monitor and control the pressure of the treatment fluid as itcirculates through various distribution manifolds 174, nozzles 162,valve assemblies, manifolds, and manifold assemblies. Most generally,the back and front pressure regulators to maintain a constant pressureacross all nozzles, valve assemblies, manifolds and manifold assembliesduring valve actuation.

FIG. 1D is a diagram of a pressurization system 160 including areservoir 164, a pump 166, a front pressure regulator 180, high dynamicrange back pressure regulator 182, a distribution supply manifold 184, adistribution return manifold 186, manifold assemblies 188, nozzlemanifolds 190, valve assemblies 192, and nozzles 162. As describedabove, the reservoir 164 contains treatment fluid and is fluidicallycoupled to the pump 166. The pump 164 is fluidically coupled to adistribution supply manifold 184 and pumps treatment fluid from thereservoir 164 to the distribution supply manifold 184. As the treatmentfluid is pumped from the reservoir 164 to the distribution supplymanifold 184, the treatment fluid passes through a front pressureregulator 180 fluidically coupled to the pump 166 and distributionsupply manifold 184.

A high dynamic range front pressure regulator 180 can monitor andregulate the pressure of all elements of the pressurization system 160after the front pressure regulator 180 (“downstream” elements). In oneexample configuration, the front pressure regulator 180 includes arestricting element, an actuating element, and a sensing element. Therestricting element is an element (e.g., a valve) that can restrict, orincrease, the flow of treatment fluid from the pump 166 to thedistribution supply manifold 184; the sensing element is a measurementsystem configured to determine the pressure of the downstream elements(e.g., a sensor diaphragm); and the actuating element is an elementconfigured to actuate the restricting element to restrict, or increase,the downstream pressure. For example, the sensing element determines thedownstream pressure and the actuating element restricts the flow oftreatment fluid using the restricting element.

The distribution supply manifold 184 is fluidically coupled to anynumber of manifold assemblies 188. The distribution supply manifoldregulates flow of the treatment fluid to the manifold assemblies 188.The distribution supply manifold 184 can restrict, or increase, the flowof treatment fluid to any number of manifold assemblies 188. Eachmanifold assembly 188 is fluidically coupled to any number of nozzlemanifolds 190, each nozzle manifold 190 is fluidically coupled to anynumber of valve assemblies 192, and each valve assembly 192 isfluidically coupled to any number of nozzles 194 such that at least someportion of the treatment fluid entering the manifold assembly can flowto (e.g., be sprayed on) plants in the field.

In some cases, not all of the treatment fluid entering a manifoldassembly 188 flows to plants on a field. Accordingly, each manifoldassembly 188 is fluidically coupled to the distribution return manifold186 such that the portion of the treatment fluid that did not flow fromthe manifold assembly 188 to plants on the field (“unused treatmentfluid) can flow to the reservoir. The distribution return manifold 186aggregates unused treatment fluid returning from the manifold assemblies188 for return to the reservoir 164. In some examples, the distributionreturn manifold 186 can restrict, or increase, the flow of treatmentfluid from a manifold assembly 188 to the distribution return manifold186.

The distribution return manifold 186 is fluidically coupled to thereservoir 164 such that unused treatment fluid can flow into thereservoir 164 for future use by the system 100. As unused treatmentfluid flows from the distribution return manifold 186 to the reservoir,the treatment fluid passes through a high dynamic range back pressureregulator 182 fluidically coupled to the distribution return manifold186 and the reservoir 164. The back pressure regulator 182 can monitorand regulate the pressure of all elements of the pressurization systembefore the back pressure regulator (“upstream” elements) similarly tothe front pressure regulator 180 and downstream elements. That is, thebackpressure regulator 180 determines the upstream pressure using asensing element, and an actuating element restricts the flow oftreatment fluid using a restricting element.

In various configurations, the pressurization system 160 can includemore or fewer elements. For example, the pressurization system caninclude only a back pressure regulator for regulating pressure oftreatment fluid in the pressurization system, or can include only afront pressure regulator for regulating pressure of treatment fluid inthe pressurization system.

II. Tube Manifold Assembly

The treatment mechanism 120 is a highly configurable component that canbe configured to spray treatment fluid on various plants of differentsizes and seed line spacing. FIG. 2A illustrates an example of atreatment mechanism 120 including is a tube manifold assembly 200 (i.e.,manifold assembly 188). The tube manifold assembly including tubemanifolds 220 (i.e., a nozzle manifold 190) coupled to various types ofspray nozzles 230 (i.e., nozzle 194). The tube manifolds 220 of the tubemanifold assembly 200 can be configured for treatment of differentplants 102 and active areas 122.

The tube manifold assembly 200 allows crop treatment fluid to be sprayedon a selected target plant or plant portion. Limiting spraying to aselected target increases the options for crop protectants for use bythe system 100. For example, spraying a selected target but not nearbyun-selected targets enables the successful weeding of non-GMO crops in afield which may not be herbicide resistant, and which would otherwisemight be damaged or affected by less precise treatment mechanisms.

The tube manifold assembly 200 may include a set of tube manifolds 220allowing each tube manifolds of the set to apply treatments to crops 102of multiple crop rows simultaneously. FIG. 2A illustrates an example ofa tube manifold assembly 200 with two tube manifolds 220, each tubemanifold with ten narrow nozzles 230 a and two groups of three widenozzles 230 b. Each tube manifold 220 of the tube manifold assembly 200moves along a manifold path 240. Generally, the tube manifold path 240is parallel to the direction of travel of the system 100 and themanifold paths 240 of the tube manifolds 220 are approximately parallel.

In the illustrated example embodiment, the ten nozzles 230 a are coupledto the tube manifold 220 as a middle cassette 262 b and each group ofwide nozzles as a left cassette 262 a and a right cassette 262 c. Eachof the cassettes 262 are fluidically coupled to the manifold supportstructure 270. Generally, the tube manifolds 220 are oriented such thatthe nozzles 230 of each tube manifold 220 (and each cassette 262 of thetube manifold 220) approximate a tube nozzle axis 250 that isperpendicular to the tube manifold paths 240. Further, in theillustrated example, there is no overlap between nozzles 230 orcassettes 262 of adjacent tube manifolds 220 (e.g., 220 a and 220 b) inthe tube manifold assembly 200 such that there is a manifold spacing 252between the manifold paths 240. However, in other configurations, thetube manifolds can be positioned such that there is some overlap betweenthe nozzles 230 and/or cassettes 262 of adjacent tube manifolds 220.

In this configuration the system 100 moves forward such that the tubemanifold paths 240 are approximately parallel to the seed lines 242 ofthe crops. While the tube manifold paths can take any alignment, ingeneral, the system 100 moves such that the center of each tube manifold220 passes over the approximate center of each plant 102 in a seed line242. The tube nozzle axis 250 is approximately perpendicular to the seedlines 242 of the crops. In the illustrated configuration, the tubemanifolds 220 are oriented such that the manifold spacing 252 a (e.g.the distance between adjacent tube manifold 220 centers) isapproximately the crop row width 254 a of the plants 102 (i.e. thespacing between adjacent seed lines 242).

III. Tube Manifold

A tube manifold 220 of the tube manifold assembly 200 is configured toapply treatment fluid to plants in a field as the tube manifold assembly200 passes over plants in the field. Each tube manifold assembly 200includes at least one tube manifold 220 for applying treatment fluid tocrops as the tube manifold assembly 200 passes above plant material inthe field. In the illustrated example of a tube manifold assembly 200 inFIG. 2A, each tube manifold 220 can any of the tube manifoldsillustrated in FIGS. 2B-2H.

FIG. 2B illustrates a frontal view of a first configuration 260A of atube manifold 220 with a left cassette 262 a, a middle cassette 262 b,and a right cassette 262 c, according to one example embodiment. FIGS.2C and 2D illustrate a frontal view of the middle cassette 262 b andright cassette 262 c of a tube manifold 220, respectively.

The tube manifold 260A can include a support structure 270, a reservoir(not pictured), a left cassette 262 a, a middle cassette 262 b, a rightcassette 262 c, treatment feed tubes 210, and nozzle control connectors276. Each cassette includes an array of nozzles 230 and valve assemblies278.

Each tube manifold 260A and its components may have a bottom side, a topside, a front side, a back side, a left side, and a right side. In theorientation of the configuration shown in FIG. 2B, the bottom is sidefacing to the bottom of the page the (e.g. towards the crops), the topside facing to the top of the page (e.g. away from the crops), the frontside facing into the plane of the page (e.g. towards the front of thesystem and in the direction the system 100 travels), the back sidefacing out of the plane of the page (e.g. to the back of the system100), and the left side and ride side are referenced from the frontfacing side (e.g. the left side is facing the left side of the page, andthe right side is facing the right side of the page in the orientationof FIG. 2B).

The support structure 270 is a structural support apparatus configuredto mechanically support and couple other components of the tube manifold260. In the illustrated example, the support structure 270 is asubstantially cylindrical tube created from a mechanically rigidmaterial such as steel, plastic, or any other material that can be usedto fabricate chemically compatible components for applying treatmentfluid in a field. The support structure 270 contains a hollow cavitythat allows treatment fluid to move along the axis of the supportstructure 270. The support structure 270 can be fluidically coupled to areservoir (e.g., reservoir 164) by the treatment feed tubes 210. Theaxis of the support structure is parallel to the tube nozzle axis 250and perpendicular to the seed lines 242.

In one example configuration, the back side of each cassette 262 may becoupled to the front side of the support structure 270 such that thefront sides of the cassettes 262 are substantially flush. The bottomsides of each cassette 262 are substantially flush and are oriented suchthat the treatment fluid exiting the nozzles 230 sprays substantiallydownward towards the plants in the field. The center 280 of the tubemanifold 220 approximately bisects the support structure 270, or,alternatively, is the approximate center of the tube manifold 260A. Thecenter 280 of the tube manifold 220 approximately follows the manifoldpath 240 in the direction of movement of the tube manifold assembly 200and the system 100. In various embodiments, the constituent componentsof the tube manifolds 260 can take any orientation or coupling such thatthe tube manifold is capable of assisting the treatment mechanism 120 inapplying a treatment to a plant in the field.

The nozzles 230 and cassettes 262 of the tube manifold assembly 260 cantake any grouping such that different groupings of nozzles can spraytreatment on the plants of the field at any time. For example, as inFIG. 2B, the back side of the right cassette 262 c is coupled to thevalve assemblies 278 c and nozzles 230 c of the right cassette. Thenozzles 230 c and valve assemblies 278 c are grouped into a rightsprayer group. The middle cassette 262 b and left cassette 262 a aresimilarly coupled and grouped into middle and left sprayer groups,respectively. The nozzles 230 and valve assemblies 278 of each sprayergroup are adjacently oriented such that the nozzle exits areapproximately linear. The nozzle exits of each sprayer group arecollinear and additionally collinear to the tube nozzle row 250. Eachsprayer group is configured such that individual nozzles of the sprayergroup couple to the cassettes 262 and can be mechanically removed andreplaced from the tube manifold 220.

In the illustrated configuration, the left 262 a and right 262 bcassettes include three wide nozzles 230 b and their corresponding valveassemblies 278 with each trio of wide nozzles grouped into a left andright sprayer group, respectively. The middle cassette includes tennarrow nozzles 230 a and their corresponding valve assemblies 278grouped into the middle sprayer group. The wide nozzles 230 b applytreatment fluid to a wider active area 122 than the narrow nozzles 230a.

In alternative embodiments, each sprayer group can be divided intonozzle subsets, e.g. in the middle sprayer group there may be a leftsubset of four nozzles, a middle subset of five nozzles, and a rightsubset of one nozzle. The nozzle subsets may take any number and anyconfiguration, including nozzles of different sizes, e.g. a subset withone wide nozzle and one narrow nozzle. Further, each cassette is notlimited to one sprayer group and may have any number of sprayer groupsor nozzle subsets, e.g. the middle cassette may have two sprayer groupsconfigured, each sprayer group divided into nozzle subsets.Additionally, a sprayer group may include nozzles from differentcassettes. The spray of treatment fluid by each sprayer group and nozzlesubset can be independently controlled by the system controller 130.

FIG. 2E and FIG. 2F, respectively, illustrate a front and isometric viewof a second configuration tube manifold 260 b including multiple nozzles230 of the same size (e.g., a narrow nozzle). In this configuration, thetube manifold 220 b can include any number of cassettes (notillustrated) coupling any number of nozzles to the support structure270. The tube manifold 260B can have any number of spray groups andnozzle subsets containing any number of nozzles across any number ofcassettes, as described previously. For example, in one embodiment, allof the nozzles 230 and valve assemblies 278 may be coupled to thesupport structure 270 via one cassette and all the nozzle 230 and valveassemblies 278 are grouped into a single sprayer group. In anotherexample, every six adjacent nozzles 230 are coupled to the supportstructure 270 as a cassette, with each cassette having a two sprayergroups. Each sprayer group of each cassette can be subdivided into twonozzle subsets, with the first nozzle subset having a singular nozzle230 and the second nozzle subset having a pair of nozzles 230.

In the illustrated embodiment, the tube manifold 260 b includestreatment feed tubes 210 mechanically coupled to the left and right sideof the support structure 270, but can be coupled in any other position.The treatment feed tubes 210 fluidically couple the support structure270 and valve assemblies 278 to the reservoir. The treatment feed tubes210 can be constructed from plastic, aluminum, steel, or any othertubing material that can be used to fluidically couple components of thesystem 100.

Additionally, the tube manifold 260 b includes nozzle control connectors276 that electrically couple the valve assemblies 270 and nozzles 230 tothe system controller 130. The nozzle control connectors 276 areconfigured to transmit and receive the control signals of each nozzle230 and valve assembly 270. The control signals dictate the release oftreatment fluid as the tube manifold 260 b passes above plants 102 asthe system 100 moves through a field.

In this configuration, the tube manifold 220 b also includes a rotationmechanism 280. The rotation mechanism is coupled to the supportstructure 270 such that the support structure 270, and thereby thenozzles 230, are capable of rotating relative to an axis parallel to thefield and perpendicular to the direction of travel across the field. Inone configuration, the rotation of the support structure is based on theheight of plants being targeted for spray. For example, for plantsdetected to have a height above a threshold height, the array of nozzlesrotate to such that plants may pass underneath the tube manifold 260 b.Similarly, for plants detected to have a height below a thresholdheight, the array of nozzles rotate to angle downwards such that thenozzle outlets can improve treatment fluid delivery to plants in thefield. In one example, this includes bringing the nozzle outlets areorthogonal to the field.

FIG. 2G and FIG. 2H, respectively, illustrate side views of a tubemanifold 260B at a normal orientation and a rotated orientation. Inthese figures, an axis that the treatment fluid is sprayed from thenozzle (“spray axis” 290, hereafter) and an axis orthogonal to the planeof the field (“normal axis” 292, hereafter) are illustrated. In thisexample, the normal axis improves treatment fluid delivery to plants butcould be any other axis. FIG. 2G illustrates the tube manifold 220 b ina normal orientation. In a normal orientation, the rotation mechanism280 is configured such that the spray axis 290 is parallel to the normalaxis 292. FIG. 2H illustrates the tube manifold 220 b in a rotatedorientation. In a rotated orientation, the spray axis 290 is rotatedfrom the normal axis 292 by a rotation angle 294. In the example of FIG.2G the rotation angle is 30°, but the rotation angle can be any anglebetween −90° and 90°. In some configurations, the rotation mechanism 290can include an actuation mechanism such that the actuation mechanism canchange the rotation angle 294. The actuation mechanism can becommunicatively coupled to the control system 130 such that the systemcontroller 130 can control the rotation angle of the tube manifold 220b. In other configurations, the actuation mechanism can be a manualactuation mechanism such that an operator of the system 100 can changethe rotation angle 294.

IV. Offset Manifold Assembly

FIGS. 3A-3B illustrate another example treatment mechanism 120 for usein the system 100. The illustrated treatment mechanism is a configurableassembly consisting of an offset manifold assembly 300 (i.e., a manifoldassembly 188) including offset manifolds 320 (i.e., nozzle manifold)coupled to spray nozzles 330 (i.e., nozzles 194). The offset manifolds320 of the offset manifold assembly 300 can be configured for treatmentof different plants 102 and active areas 122. Further, the offsetmanifold assembly 300 may configure the offset manifolds 310 to applytreatments to crops that have differences in seed line spacing.

FIG. 3A illustrates an example of three offset manifolds 320 in anoffset manifold assembly 300 configured in an open state. In thisexample, each offset manifold includes fourteen nozzles 330. The offsetmanifold assembly 300 also allows crop treatment fluid to be sprayed ona selected target plant or plant portion.

The offset manifold assembly 300 of FIGS. 3A-3B function similarly tothe tube manifold assembly 200 in FIG. 2A: each offset manifold 320 ofthe offset manifold assembly 300 moves along a manifold path 240, themanifold path 240 is parallel to the direction of travel of the system100, the manifold path 240 is parallel to the seed lines 242 of theplants 102 in the field, the center of each offset manifold 320 passesover the approximate center of each plant 102, the offset nozzle row 350is perpendicular to the manifold path 240 and seed lines 242, and themanifold spacing 352 a is approximately equal to the crop row width353A. Further, in the example of FIG. 3A there is no overlap betweennozzles 330 of adjacent offset manifolds 320 (e.g. 320 a and 320 b) inthe offset manifold assembly 300 such that there is a manifold spacing352 a between the manifold paths 240, while in the example of FIG. 3Bthere is overlap between nozzles of adjacent offset manifolds 320 suchthat manifold spacing 352 b is the narrower than the manifold spacing352 a of FIG. 3A.

The system 100 can be configured to change manifold spacing (e.g. 352 ato 352 b), i.e. the offset manifolds 300 are shaped such that adjacentoffset manifolds can have variable spacing and overlap of nozzles 330and cassettes 332 depending on the configuration of the system 100 (e.g.nest). In further similarity, the offset manifolds 320 and offsetmanifold assembly 300 can have any number of components or may becoupled to other components of the system 100 that allow for configuringthe manifold spacing 352.

Dissimilar to the configuration of the tube manifold assembly 200 ofFIG. 2A, each offset manifold 320 has a left cassette 322 a coupled to aleft sprayer group and a right cassette 322 b coupled to a right sprayergroup. The left cassette 322 a and the right cassette 322 b group areapproximately parallel to, and equidistant from, an offset nozzle row350 which lies between the two cassettes. The configurations of theoffset manifolds 320 are described in more detail below.

While FIGS. 3A-3B demonstrate three offset manifolds 320 in an offsetmanifold assembly 300, there may be any number of offset manifoldscreating an offset manifold assembly. In the illustrated manifoldassembly of FIG. 3A-3B each of the offset manifolds are collinear butthe offset manifolds may be offset from one another such that the offsetnozzle row 350 of each offset manifolds 320 are not collinear.

V. Offset Manifold

The offset manifold 320 is a manifold of the offset manifold assembly300 that is configured to apply treatment fluid to plants in a field asthe offset manifold assembly passes over the plants in a field. Eachoffset manifold assembly includes at least one offset manifold forapplying treatment fluid to crops as the manifold assembly passes aboveplant material in the field. In the illustrated examples of FIGS. 3A-3B,the offset manifold 320 can be the offset manifold 320 illustrated inFIGS. 3C-3D.

FIG. 3C-3D illustrate an individual offset manifold 320, according toone example embodiment. FIG. 3C gives an isometric view of the offsetmanifold, while FIG. 3D gives a plan view of the bottom of the offsetmanifold. The offset manifold includes a support structure 370, areservoir 372, a left cassette 322 a, a right cassette 322 b, treatmentfeed tubes 374, and nozzle control connectors 376. Each cassetteincludes an array of nozzles 330 and valve assemblies 378.

Each offset manifold 320 and its components can have a bottom side, atop side, a front side, a back side, a left side, and a right side. Inthe orientation of the configuration shown in FIG. 3C, the bottom isside facing to the bottom of the page the (e.g. towards the crops), thetop side facing to the top of the page (e.g. away from the crops), thefront side facing into the plane of the page (e.g. towards the front ofthe system and in the direction the system travels), the back sidefacing out of the plane of the page (e.g. to the back of the system),and the left side and ride side are referenced from the front facingside (e.g. the left side is facing the left side of the page, and theright side is facing the right side of the page in the orientation ofFIG. 3C).

In the illustrated example configuration, the support structure 370 is astructural support apparatus configured to mechanically support andcouple all other components of the offset manifold 320. In oneembodiment, the support structure 370 is a substantially rectangularblock created from a mechanically rigid material such as aluminum,steel, plastic, or any other material that can be used to fabricateplant treatment systems.

In the illustrated example configuration, the bottom side of thereservoir 372 is coupled to the top side of the support structure 370.The reservoir 370 is positioned towards the back side of the offsetmanifold 320 such that back side of the reservoir 372 and the supportstructure are substantially flush. In other configurations the reservoir370 may be coupled to any other portion of the offset manifold 320, theoffset manifold assembly 300, or the system 100.

In the illustrated example configuration, the top side of the rightcassette 322 b is coupled to the bottom side of the support structure370 a such that the front side of the right cassette 322 b and thesupport structure 370 are substantially flush. The top side of the leftcassette 322 a is coupled to the bottom side of the support structure370 such that the back side of the left cassette 322 a and the supportstructure 370 are substantially flush. The center 380 of the offsetmanifold runs from the back side to the front side of the offset supportstructure between the left cassette and the right cassette and. Thecenter 380 of the offset manifold 320 approximately follows the manifoldpath 240 in the direction of movement of the offset manifold assembly300 and the system 100.

In the illustrated example configuration, the back side of the rightcassette 322 b is coupled to the valve assemblies 378 and nozzles 330 ofthe right cassette in a right sprayer group and the front side of theleft cassette is coupled to the valve assemblies and nozzles of the leftcassette in a left sprayer group. The nozzles and valve assemblies ofeach sprayer group are adjacently oriented such that the nozzles areapproximately linear. The line of the left sprayer group is parallel tothe line of the right sprayer group such that the lines are slightlyseparated and the offset nozzle row is approximately between the two.The left side of the right sprayer group is approximately flush with themidline and the right side of the left sprayer group is approximatelyflush with the midline. The sprayer groups are configured such thatindividual nozzles of the sprayer groups couple to the cassettes and canbe mechanically removed and replaced. Further, the sprayer groups can besubdivided into any number of nozzle subsets. The nozzles, valveassemblies, sprayer groups, cassettes, and nozzles subsets can take anyconfiguration to facilitate control of spraying treatment on the plantsof the field, similar as previously described.

The treatment feed tubes 374 fluidically couple the valve assemblies 378coupled to the left cassette 322 a and the valve assemblies 378 coupledto the right cassette 322 b to the reservoir 164. The treatment feedtubes 374 are constructed from plastic, aluminum, steel, or any othertubing material that can be used to fluidically couple components of thesystem.

The nozzle control connectors 376 electrically couple the valveassemblies 378 and nozzles 330 to the system controller. The nozzlecontrol connectors 376 are configured to transmit and receive thecontrol signals of each nozzle 330 and valve assembly 378. The controlsignals dictate release of treatments as the offset manifold 320 passesabove crops as the system 100 moves through a field.

VI. Valve Assemblies

Generally, each manifold includes at least one nozzle coupled to atleast one valve assembly. FIG. 4A illustrates a cross-sectional view ofa valve assembly used 400 in a plant treatment system, according to oneexample embodiment. The valve assembly 400 is designed such that avolume of fluid between the bottom of the spring plunger and the top ofthe nozzle is as small as possible. The reduced volume of liquid allowsa full spray to develop and shut off nearly instantaneously. The nozzlesprays fluid downwards towards the crops along a spray axis (generallyparallel or collinear to the nozzle midline) when the valve assemblyforces fluid into the nozzle via the solenoid. Shutting of the flow offluid through the nozzle is accomplished by having the nozzle itselfpositioned where the spring plunger seals off the flow. The valveassembly can be coupled to the system controller by nozzle controlconnectors to control the spraying of treatment fluid onto the crops.

Each of the valve assemblies 400 comprise a solenoid 410, an armaturetube 420, a spring plunger 430, a valve O-ring 440, a valve body 450, ascreen filter 460, and a rubber seal 470 and is mechanically coupled toa nozzle 480. The valve assembly and constituent components have a topside (e.g. to the top of the page in the orientation of FIG. 4A), abottom side (e.g. to the bottom of the page in the orientation of FIG.4A), a proximal side (facing towards the spray axis), a distal side(facing away from the spray axis), and are substantially oriented aboutthe spray axis 480. The nozzle 480 may be any nozzle configurationdescribed below.

The solenoid 410 is a solenoid coil configured to electromagneticallycontrol the fluid exiting the nozzle assembly by manipulating the springplunger 430 by converting control signals from the system controller 130into mechanical motion of the solenoid 410. The solenoid 410 isconfigured such that the proximal facing solenoid 410 sidewalls arecoupled to the distal facing armature tube 420 sidewalls. The bottomside of the solenoid 410 is coupled to the top side of the valve body450 and near the top side of the armature tube 420 such that someportion of the armature tube 420 sidewalls extend past the bottom sideof the solenoid 410 and into the valve body 450.

The armature tube 420 is a cylindrical tube coaxial to the spray axis ofthe nozzle 480 with the bottom side of the armature tube 420 includingarmature tube seal ring 422 (appear as winglets in the 2d figure). Thearmature tube seal ring 422 extend radially outward from the spray axison the bottom side of the armature tube. The proximal facing sidewallsof the armature tube 420 are coupled to the distal facing sidewalls ofthe spring plunger 430. A top portion of the distal facing sidewalls ofthe armature tube 420 are coupled to the solenoid 410 and a bottomportion of the distal facing sidewalls are coupled to the upper O-ring440. The armature tube couples the solenoid 410 to the spring plunger430 such that the solenoid is able to electromagnetically control thespray of the nozzle via the spring plunger 430.

The valve O-ring 440 is a mechanical gasket in the shape of a torusconfigured to be seated between the top side of the armature tube sealring-422 and the top side of the valve body 450. The valve O-ring 440 iscompressed during assembly of the valve assembly 400 between thearmature tube seal ring-422 and the valve body 450 such that a fluidtight seal is created.

The spring plunger 430 is a substantially cylindrical in shape and iscentered about the spray axis 480. An upper portion of the distal facingsidewalls of the spring plunger 480 are coupled to the proximal facingsidewalls armature tube 420. A lower portion of the distal facingsidewalls of the spring plunger are coupled to the spring coils 432. Thebottom side of the spring plunger 430 is coupled to a rubber seal 470.The spring plunger 430 is configured to be controlled by the solenoid asthe spring plunger moves up and down the spray axis 480. When the springplunger 430 is moved upwards along the spray axis 480 by the solenoid410 the spring plunger 430 removes the rubber seal 470 from the nozzleand allows fluid to begin to fill the nozzle. When the spring plunger ismoved downwards along the spray axis by the solenoid the spring plungera volume of fluid is pushed into the nozzle 490 for the nozzle to sprayon the plants of the field. The spring plunger 430 is left in a downwardposition with the rubber seal 470 contacting the nozzle to prevent fluidfrom entering the nozzle for spraying.

The valve body 450 is configured to couple the components of the valveassembly to the manifold support structure and fluidically couple thereservoir 164 to the valve assembly 400. The valve body 450 includes avalve body cavity 452 and a fluid inlet cavity 454. The proximal facingsidewalls of the valve body cavity 452 are configured to act as a seatfor the nozzle 480 when the nozzle is coupled to the valve assembly 400.The fluid inlet cavity 454 is a cavity within the valve body configuredto fluidically couple the reservoir 164 to the valve body cavity 452.The valve body cavity 452 may fill with fluid when fluidically coupledto the reservoir 164 via the fluid inlet cavity 454 such that thetreatment fluid can be injected into the nozzle 480.

The screen filter 460 is a filter coupled to the valve body 450 andvalve body cavity 452, configured to filter particulates from thetreatment fluid before the treatment fluid can enter the nozzle. Thescreen filter 460 is oriented such that it separates the fluid inletcavity 454 from the valve body cavity 452 and filters out particulatesfrom the treatment fluid as the treatment fluid moves from the fluidinlet cavity 454 to the valve body cavity 452. Filtering particulatesfrom the treatment fluid can prevent the nozzle 480 from clogging duringoperation of the system 100.

FIG. 4B illustrates a tube valve assembly configured to couple to thesupport structure of the tube manifold of FIGS. 2B-2D. The tube valveassembly 402 is configured to mechanically and fluidically couple to acylindrical support structure. The tube valve assembly can include anycomponents that can mechanically couple the valve assembly to thesupport structure of a manifold including a latch 482, pins/screws 484,clamps, locks 486, etc. The tube valve assembly can also include anycomponents that can fluidically couple the valve assembly to thereservoir 164 such as tubing, piping, O-rings 488, gaskets, etc. Thetube manifold fluidically couples the reservoir 164 to the fluid cavityinlet. In other configurations, the tube valve assembly can includeadditional support structures to couple adjacent tube valve assembliesinto a cassette of the tube manifold. In some embodiments, a singulartube valve assembly may be a cassette of the tube manifold.

FIG. 4C illustrates an offset valve assembly configured to couple to thesupport structure of the offset manifold of FIGS. 3C-3D. The offsetvalve assembly 404 functions similarly to the tube valve assembly, butis configured to mechanically and fluidically couple to a substantiallyrectangular support structure. The offset valve assembly can includesimilar components to the tube valve assembly for coupling adjacentoffset valve assemblies and fluidically coupling the valve assemblies tothe reservoir.

IX. Nozzles

A nozzle is a nozzle configured to mechanically and fluidically coupleto any of the described valve assemblies and treatment mechanisms. Thenozzle is designed such that the spray pattern of treatment fluidexiting the nozzle approximates a rectangular area when sprayed by thesystem 100 on crops in a field. Shutting of the flow of fluid throughthe nozzle is accomplished by having the nozzle itself positioned wherethe spring plunger seals off the flow. The reduced volume of liquidbetween the spring plunger and the nozzle allows a full spray to developand shut off nearly instantaneously.

FIGS. 5A and 5B show cross-sectional views of a nozzle used by thesystem from the front and from the left side, respectively, according toone embodiment. The nozzle 500 can be described in three sections: thenozzle head 502, the nozzle body 504, and the nozzle tail 506.Additionally, the nozzle and its constituent sections and componentshave a top side (e.g. to the top of the page in the orientation of FIG.5A), a bottom side (e.g. to the bottom of the page in the orientation ofFIG. 5A), a front side (e.g. out of the page in the orientation of FIG.5A), a back side (e.g. in to the page in the orientation of FIG. 5A), adistal side (e.g. away from the nozzle midline 508), and a proximal side(e.g. towards the nozzle midline 508).

The nozzle head 502 is shaped as a cylindrical annulus with a cavitycentered about the nozzle midline 508. The cylindrical annulus iscoupled to the bottom side of a cylindrical pyramid having a top flatsurface and a central circular cavity centered about the nozzle midline508. The proximal facing sidewalls of the cavities in the cylindricalpyramid and cylindrical annulus are coaxially centered about the nozzlemidline 508 and form at least some portion of the inlet cavity 510. Thetop side of the nozzle head can mechanically couple with the bottom ofthe spring plunger and rubber seal of the valve assembly (not shown).The top side nozzle head includes a nozzle inlet 512 which canfluidically couple the inlet cavity with the valve assembly when thesolenoid of the valve assembly mechanically decouples the spring plungerand rubber seal from the top side of the nozzle head 502.

The nozzle body 504 is coupled to the bottom side of the nozzle head502. The nozzle body 504 is substantially shaped as a cylindricalannulus with the proximal facing sidewalls of the cylindrical annuluscentered about the nozzle midline 508 and forming at least some portionof the inlet cavity 510. The distal facing sidewalls of the nozzle body504 can be configured with any number of ridges or grooves to assist inmechanically coupling other components of the nozzle 500 to the nozzlebody 504.

In the illustrated embodiment, near the top side of the nozzle body 504is a groove configured for mechanically coupling the nozzle O-ring 520to the nozzle body 504. The nozzle O-ring 520 is a mechanical gasket inthe shape of a torus configured to be seated between the distal facingsidewalls of the nozzle body 504 and the proximal facing sidewalls ofthe fill cavity of the valve assembly. The nozzle O-ring 520 iscompressed during the mechanical coupling of the nozzle 500 and thevalve assembly 400 such that a fluid tight seal is created.

In the illustrated embodiment, near the bottom side of the nozzle body504 is a groove on the distal facing sidewalls of the nozzle body 504configured for mechanically coupling the nozzle 500 to a pull-tab 530.The pull tab 530 is configured to allow an operator of the system 100 toremove the nozzle 500 from the valve assembly 400. The pull tab 530 canbe any mechanical component such as a pull-ring, a latch, a handle, aknob, a ridge, or any other mechanical component that allows the removalof the nozzle 500 from the valve assembly 400.

The bottom side of the nozzle body 504 is coupled to the top side ofnozzle tail 506. The nozzle tail 506 is a substantially rectangularshape including an upper fill cavity wall 542 and a lower fill cavitywall 544 with its short axis parallel to the manifold path and its longaxis parallel to the nozzle axis. The upper fill wall 542 and lower fillwall 544 are configured such that when the two are coupled the nozzle500 includes a fill cavity 540 bounded by two walls. The upper fillcavity wall 542 fluidically couples the fill cavity 540 to the inletcavity 510 through a divergence area 514, the divergence area 514 acontoured cavity in the nozzle tail 506 configured to spread fluid fromthe inlet cavity 510 to the fill cavity 540. The lower fill cavity wall544 includes an array of nozzle exits 550 orthogonal to the plane of thecrop field configured to allow fluid from the fill cavity 540 to exitthe nozzle 500 towards the external environment. The treatment fluidsprays out from each of the nozzle exits 550 in a column, the group ofcolumns approximating a rectangle.

X. Nozzle Design

In some configurations, a nozzle can include removable andinterchangeable nozzle inserts. The structure of each nozzle insertaffects how treatment fluid exits the nozzle and, accordingly, the spraypattern of a nozzle is configurable because the nozzle inserts areremovable and interchangeable. For example, a first nozzle insert canhave a rectangular spray pattern such that the nozzle sprays treatmentfluid in a rectangular pattern on a plant. An operator of the system 100removes the first nozzle insert from the nozzle and inserts a secondnozzle insert that has a fan spray pattern into the nozzle. Now, becauseof the second nozzle insert sprays treatment fluid in a fan pattern, thenozzle sprays treatment fluid in a fan pattern on a plant.

Generally, including a nozzle insert in a nozzle requires that a nozzlehave components that can be removably coupled such that a nozzle insertcan be inserted, removed, or exchanged. For example, FIGS. 6A and 6Billustrates an isometric view of a nozzle 600 with components that canbe removably coupled. In this example, the components include a topcasing 602 and a bottom casing 604 that can be removably coupled by alatching system 608. In the configuration of FIG. 6A, the top casing 602and the bottom casing 604 are decoupled, while in the configuration ofFIG. 6B the top casing and the bottom casing are coupled. When coupled,the top casing and the bottom casing form a nozzle housing. In variousother configurations, the nozzle can include any number of casings(e.g., 1, 2, 3, . . . , n casings) that can be coupled in any number ofrelative orientations (e.g., top/bottom casings, front/back casings,left/center/right casings, etc.).

In the illustrated configuration, the top casing 602 can be configuredwith a fluid inlet 606 to allow treatment fluid to enter the nozzle 600and the bottom casing 604 can be configured with any number of insertopenings 612 (e.g., a fluid outlet) to allow treatment fluid to exit thenozzle 600. Further, the top casing 602 and the bottom casing 604 mayinclude any number of additional components to create a fluid tight sealat the interface between the two casings, including, but not limited to,a gasket, an O-ring, a waterproof sealant, a waterproof tape, etc. Inalternate configurations, the top casing 602 and the bottom casing 604can be configured such that they form a fluid tight seal whenmechanically coupled. Structurally, the top casing and the bottom casinginclude any one of the following materials: corrosion resistance steels,plastics, ceramics, etc.

In various configurations, the latching system 608 includes, but is notlimited to, a latch system, a lock mechanism, a physical alignment ofthe top casing with the bottom casing, a semi-removable compliant sealmaterial, a bolt system, one or more screws, pins, clamps, or fasteners.The illustrated configuration includes a latch system 608 in which thetop casing 602 includes one or more ridges 620 along an edge of the topcasing 602 and one or more clasps 622 along an edge of the bottom casing604. The ridges 620 and clasps 622 are configured to mechanicallycouple, or decouple, the top casing 602 and the bottom casing 604. Inthis example, the latching system 608 creates a fluid tight seal 614between the top casing 602 and the bottom casing 604 when the two aremechanically coupled. In some embodiments, the ridges 620 and clasps 622are in a one to one ratio, but can be in any other ratio such as, forexample, one clasp for every two ridges. Configurations including analternative latching mechanism may function similarly, but differstructurally.

FIG. 6C illustrates a cross-sectional view of the nozzle 600 used by thesystem, according to one embodiment. The nozzle housing consists of thetop casing 602 coupled to the bottom casing 604. As described inreference to FIG. 5D-5E, the components of the nozzle have a bottom side(e.g. the bottom of the page in the orientation of FIG. 6B) and a topside (e.g. the top of the page in the orientation of FIG. 6B).

The top casing 602 includes components similar to the nozzle head 502and the nozzle body 504 described in FIG. 5A and FIG. 5B. For example,similar to the nozzle inlet 512, the fluid inlet 606 fluidically couplesthe nozzle 600 to a valve assembly of a nozzle manifold such thattreatment fluid flowing from a fluid reservoir fluidically coupled tothe nozzle manifold enters the nozzle 600 through the fluid inlet 606.The section of the top casing 602 surrounding the fluid inlet 606 isstructured such that the fluid inlet 606 may be coupled to the valveassembly. The fluid inlet is coupled to the valve assembly when apressure is applied to the bottom side of the top casing 602 or nozzlehousing. The coupling forms a fluid tight seal between the valveassembly and the nozzle 600.

The top casing 602 and fluid inlet 606 are similar to the nozzle headand nozzle inlet 512. That is, the structure of the top casing 602 andfluid inlet 606 form an inlet cavity 610 centered on a nozzle midline.However, in various configurations, the fluid inlet of FIG. 6A may beconfigured differently compared to the fluid inlet off FIG. 5B. Withinthe top casing 602, the inlet cavity 510 extends from the fluid inlet606 on the top side of the top casing 602 to a divergence area 608 onthe bottom side of the top casing 602. The inlet cavity 510 fluidicallycouples the fluid inlet 606 to the divergence area 508. The inlet cavity510 extends between the fluid inlet 606 and the fill cavity 540 bycentering the aforementioned components about the nozzle midline. Thefill cavity 540 in FIG. 6 functions similarly to that of FIG. 5,although the dimensions may be dissimilar.

The bottom casing 604 includes components similar to the nozzle body 504and nozzle tail 506 as described in FIGS. 5A and 5B. When the top casing602 couples to the bottom casing 604, a fill cavity 540 is formed insideof the nozzle housing. The top side of the bottom casing 604 couples tothe bottom side of the top casing 602 to form the nozzle hosing via thelatching mechanism 608. The bottom casing 604 is similarly shaped to arectangular prism having a bottom face and without a top face. The fourwalls 610 of the prism couple to the bottom side of the top casing bythe latching mechanism 608 to form the fill cavity 540. The bottom faceof the prism includes one or more insert openings 612 through whichtreatment fluid exits the nozzle from the fill cavity 540.

In the illustrated example, treatment fluid entering from the fluidinlet 606 collects within the fill cavity 540 before existing the nozzlehousing through one or more insert openings 612. The insert opening 612can be one or more through holes through the bottom face of the bottomcasing 604. Generally, the insert openings 612 are oriented orthogonalto the plane of the crop field such that treatment fluid moves from thenozzle outlets to the crops in the field. Generally, the insert openings612 approximate the length of the bottom casing 604. Therefore, ingeneral, increasing the length of the nozzle 600 increases the number(or size) of insert openings 612 and allows each nozzle 600 to spraytreatment fluid on a larger area. In implementations in which the bottomcasing 604 includes multiple insert openings, the multiple insertopenings may share a consistent shape and size or, alternatively, mayvary in shape and size.

Generally, a nozzle housing includes two axes: a long axis runningparallel to the line of insert openings 612 and a short axis runningperpendicular to the line of insert openings 612. As referenced herein,for all components, measurements along the long axis of refer to alength and measurements along the short axis refer to a width.

The cross-section of FIG. 6C also illustrates the flow of treatmentfluid through the nozzle 600. In the illustrated example, the treatmentfluid (dashed arrows and dash filled arrows) enters the nozzle 600through the fluid inlet 606 from a valve assembly. The treatment fluidenters the inlet cavity 510 via the fluid inlet 606 and flows from theinlet cavity 510 to the divergence area 608. The treatment fluidcontinues to flow through the nozzle 600 and into the fill cavity 540.The treatment fluid then exits the nozzle 600 through the insertopenings 612. In the illustrated configuration, the treatment fluidexpands from a small stream within the inlet cavity 510 to a wide sprayas it travels out of the nozzle 600 through the divergence area 608, thefill cavity 540, and insert opening 612.

Because of the structure of the nozzle and, more specifically, theintegration of the insert openings 612 into the bottom face of thebottom casing 604, a single nozzle 600 is only capable of dispensingtreatment fluid in a single spray pattern. Additionally, the flowtreatment fluid exiting from the insert openings cannot be manipulated,shaped, configured, channeled, etc. (“manipulated” hereafter, inaggregate) through the fluid cavity as it exits the nozzles. Thus, anozzle that includes a component that allows the treatment fluid to bemanipulated can be beneficial.

FIG. 6D and FIG. 6E, respectively, show a front view and a side view ofthe nozzle 600 with a coupled top casing 602 and the bottom casing 604.In the illustrated configuration, the latching system 608 demonstratesthe latches of the bottom casing 604 clamped to the ridges of the topcasing 602. FIG. 6F illustrates an inverted, isometric view of thenozzle 600 to visualize the bottom face of the bottom casing 604 and theinsert opening 612. While, here, the insert opening 612 is shown as asingle through-hole, the insert opening 612 can include any number ofthrough-holes of various size and positon.

In some implementations, the nozzle 600 can be disassembled andreassembled with a different bottom casing capable of a different spraypattern. However, in some configurations, a bottom casing can be arelatively expensive part to manufacture and, therefore, a differentmethod of obtaining different spray patterns is beneficial.Additionally, designing bottom casings that are easy to manufacturewhile reliably spraying different patterns of treatment fluid on plantsis a challenging problem. To improve control over the spray pattern andflow of treatment fluid through the nozzle, an alternate configurationfor a nozzle can include an insert assembly positioned within the nozzlehousing. Further, configurable nozzle inserts allow for rapidprototyping of nozzle inserts with different fluid pathways through thenozzle insert (“nozzle orifices”). In general, being able toincrementally and rapidly change a nozzle orifice allows for a moreefficient evolution of farming machine spray patterns. For example, FIG.7A illustrates an isometric view of the components for the narrow nozzle700 with replaceable nozzle inserts, according to an exampleconfiguration. In various examples, a nozzle insert may have a widthbetween 0.5 inches and 2.5 inches, where the width is measured along thelong axis of the nozzle insert. The configuration includes a top casing602, a bottom casing 604, a nozzle seal 706 and a nozzle insert 708. Thenozzle seal 706 and nozzle insert 708 are collectively referred to asthe insert assembly 1000. The components of the insert assembly aredescribed in further detail in reference to FIGS. 8-10.

The top casing 602 and bottom casing 604 are largely similar to thosedescribed in reference to FIG. 6A. The top casing 602 includes a fluidinlet 606 through which treatment fluid enters the narrow nozzle 700.The bottom casing 604 includes an insert opening 612 through whichtreatment fluid exits the narrow nozzle 700. The fluid inlet issurrounded by a ridge that is used as a valve poppet seal face whencoupling a nozzle to a valve assembly. The top casing also includes anO-ring to form a fluid tight seal to the valve assembly. Further, theO-ring rests inside a travel stop ridge that further acts to couple thetop casing to the valve assembly.

When coupled, the top casing 602 and the bottom casing 604 create afluid tight seal at the interface between the two casings as describedabove. When the top casing 602 couples to the bottom casing 604, a fillcavity 540 is formed inside of the nozzle housing. In the context ofFIG. 7A, the fill cavity is configured to contain the insert assembly1000.

The bottom face of the bottom casing 604 includes an insert opening 612through which the treatment fluid exits the nozzle. Consistent with theorientation and description above, the insert opening 612 is one or morethrough holes in the bottom face of the bottom casing that fluidicallycouples the fill cavity 540 to the external environment and allowstreatment fluid to exit the narrow nozzle 700. Each insert opening 612can be structured such that at a least some portion of the insertassembly 1000 may couple to the bottom casing 604. In the illustratedexample of FIG. 7A, the insert opening 612 includes an interior rim nearthe bottom side of the bottom casing 604 that extends towards the middleof the insert opening 612. The rim is structured such that elements ofthe insert assembly 1000 can mechanically couple to the bottom casing604 and prevent those elements from slipping in the fill cavity 540, orfalling out of the nozzle housing via the insert opening 612. In someembodiments, the nozzle seal may be permanently coupled to the tophousing.

FIG. 7B illustrates a cross-sectional view of the narrow nozzle 700including an insert assembly 1000, according to one embodiment. Similarto the nozzle 600 described in FIG. 6C, the nozzle housing consists ofthe top casing 602 and the bottom casing 604. The fluid inlet 606fluidically couples the narrow nozzle 700 to the valve assembly suchthat treatment fluid flowing from the fluid reservoir enters to thenarrow nozzle 700 through the fluid inlet 606. The section of the topcasing 602 surrounding the fluid inlet 606 is designed such that thefluid inlet 606 may be coupled to the valve assembly by applyingpressure on the bottom face of the top casing 602, or nozzle housing, toform a fluid tight seal. The bottom casing 604 includes componentssimilar to the nozzle body 504, the nozzle tail 506 described above.When the top casing 602 couples to the bottom casing 604, a fill cavity540 is formed inside of the nozzle housing. Treatment fluid enteringfrom the fluid inlet 606 travels down the inlet cavity 510, exitsthrough the divergence area 608, and collects in the fill cavity 540 tobe dispensed. From the fill cavity 540, the treatment fluid is directedthrough the nozzle insert 708 to the insert openings 612 where it exitsthe nozzle insert 708.

Generally, the treatment fluid is channeled through the nozzle orifices714 of the nozzle insert 708 at a specific volume and flow ratecontrolled by the valve assembly. The structure of the nozzle orifices714, the structure of the insert opening 612, the volume of treatmentfluid entering the narrow nozzle 700, and the flow rate of treatmentfluid entering the nozzle affect the spray pattern of the narrow nozzle700. Increasing the length of the narrow nozzle 700 may increase thenumber of insert openings 714 and/or the number of nozzle inserts 708,allowing the narrow nozzle 700 to spray treatment fluid over a largerarea with more control and accuracy. In implementations in which thebottom casing 604 includes multiple insert openings, the multiple insertopenings may share a consistent shape and size or, alternatively, mayvary in shape and size. Additionally, the nozzle inserts 708 in eachinsert opening can be similarly or, alternatively, dissimilarly shaped.Similarly, the nozzle orifices of each nozzle insert can be similar ordifferent. Accordingly, the spray pattern for each insert opening 612can be different.

FIG. 7B also illustrates the flow of treatment fluid through the narrownozzle 700. In the illustrated example, the treatment fluid (dashedarrows and dash filled arrows) enters the narrow nozzle 700 through thefluid inlet 606 from a valve assembly and system pressure. The treatmentfluid enters the inlet cavity 510 via the fluid inlet 606 and flows fromthe inlet cavity 510 to the divergence area 608. The treatment fluidcontinues to flow through the narrow nozzle 700 and into the fill cavity540. For example, the treatment fluid expands from a small stream withinthe inlet cavity 510 to a volume within the fill cavity 540. Here,rather than directly exiting the nozzle through the insert opening 612as in FIG. 6C, the treatment fluid flows through the nozzle orifices714. The structure of the nozzle orifices 714 can manipulate the spraypattern of the narrow nozzle 700. For example, rather than exiting as asingle stream through the insert opening as in FIG. 6C, the treatmentfluid exits the nozzle in a spray pattern including numerous smallstreams.

FIGS. 8A-10C illustrate components of the insert assembly 1000, howthose components couple to one another, and how the insert assemblycouples to the nozzle housing. In various configurations all of thecomponents of the insert assembly are decouplable and interchangeable.In other cases, some, or all, of the components may be permanentlycoupled. In various configurations, any number of the components of theinsert assembly 1000 may be removably couple to the nozzle housing.Similarly, any number of the components of the insert assembly may bepermanently coupled to the nozzle housing.

FIGS. 8A and 8B, respectively, show an isometric view and a side view ofthe nozzle seal 706. The nozzle seal 706 is a three-dimensionalstructure with a length equivalent or less than that of the bottomcasing 604. The nozzle seal provides a seal between the top casing 602,the nozzle insert 708, and the bottom casing 604. The nozzle seal 706includes a hollowed interior referred to as a nozzle insert slot 802.The nozzle seal 706 includes chamfered edges with the nozzle insert slot802 having similarly chamfered edges reflective of the shared boundarybetween the nozzle seal 706 and the nozzle insert slot 802. The nozzleseal 706 can be divided into two halves: a top portion 804 and bottomportion 806. The top portion forms a fluid tight seal when in contactwith the top casing. The length and width of the top portion 804 aresmaller than those of the bottom portion 806 such that the edgesconnecting the two portions stand at an acute angle to the long axis ofthe bottom portion 804.

FIG. 8C illustrates a cross-sectional view of the nozzle seal 706including the nozzle insert slot 802. The dashed lines in FIG. 8Crepresent the edges of the nozzle insert slot 802 which accommodate thenozzle insert 708 when coupled. As suggested by the illustrations of thenozzle seal 706, each nozzle insert slot 802 is a through hole extendingfrom the top portion 804 of the nozzle seal to the bottom portion 806 ofthe nozzle seal. Generally, the length of the nozzle insert slot 802 isgreater than the width of the nozzle insert slot. Both the length andwidth of the nozzle insert 708 is similar, if not identical, to thelength and width of the insert openings over the same axes.

At each of the nozzle insert slots 802, a nozzle insert 708 couples tothe nozzle seal 706 to form the insert assembly 1000. FIGS. 9A and 9B,respectively, show an isometric and side view of the nozzle insert. Thenozzle insert 708 is a three dimensional structure comprised of thethree regions: a top portion 902, a bottom portion 906, and a midsection904 separating the two portions. The midsection may, or may not have, awidth and a length greater than that of either the top portion 902 orthe bottom portion 906. The top portion 902 may, or may not have, awidth and length greater than that of the bottom portion. The topportion is substantially similar in shape to the corresponding nozzleinsert slot 802 of the nozzle seal 706. Specifically, the top portion902 is substantially rectangular with curved edges proportional to theshape of the nozzle insert slot 802. Therefore, the top portion of thenozzle insert 708 forms a liquid tight seal when in coupled to thebottom portion of the nozzle seal 706. The bottom portion 906 issubstantially similar in shape to the corresponding insert opening 612.

FIG. 9C illustrates a cross-sectional view of the nozzle insert. Asdescribed above, each nozzle insert 708 includes several nozzle orifices714 extending from the top portion 902, through the midsection 904, andto the bottom portion 906. When the nozzle seal 706 is coupled to thenozzle insert 708, the only way for fluid to move from the fluid inlet606 to the insert opening 612 is through the nozzle orifices.

For each nozzle orifice 712, the top side includes a circular opening atthe end of a cylindrical feature, referred to as a hole inlet 922.Similarly, a hole outlet 924 refers to a circular, or elliptical,opening at the bottom end of the cylindrical feature. The proximalsidewalls of the cylindrical annulus form a nozzle cavity through whichtreatment fluid flows towards the insert openings 712. The nozzle cavity926 extends between the hole inlet 922 and the hole outlet 924. Thenozzle orifices 712 fluidically couple the top casing and the bottomcasing by channeling treatment fluid from the fill cavity 540 towardsthe insert opening 612. The nozzle orifices 714 may be positionedequidistant across the nozzle insert 708 to produce a uniform flow oftreatment fluid to the insert opening 612. To that end, the number ofnozzle orifices 714 may be proportional to the number of insert openings712.

The number, shape, and positioning of the nozzle orifices 714 includedin a nozzle insert 708 can manipulate one or more characteristics of thetreatment fluid exiting the nozzle through the insert openings. Examplesof such characteristics include, but are not limited to, the spraypattern of treatment fluid exiting the nozzle, the droplet size of thetreatment fluid exiting the nozzle, the flow rate of the treatment fluidexiting the nozzle, and the orientation of the treatment fluid exitingthe nozzle.

FIG. 10A illustrates an isometric view of the insert assembly 1000 withthe nozzle seal 706 and the nozzle insert 708 decoupled and FIG. 10Billustrates an isometric view of the insert assembly 1000 with thenozzle seal 706 and the nozzle insert 708 coupled. While notillustrated, in some cases the nozzle seal can be permanently coupled tothe bottom side of the top casing 602. As described above, the topportion of the nozzle insert 708 (i.e., the half nearer the top of thepage in the orientation FIG. 10A) couples with the bottom portion of thenozzle seal 706 (i.e., the half nearer the bottom of the page in theorientation of FIG. 10A) by fitting within the nozzle insert slot 802.By applying pressure to the bottom portion of the nozzle insert 708and/or the top portion of the nozzle seal, a liquid tight seal forms atthe interface between the exterior edges of the nozzle insert 708 andthe interior edges of the nozzle seal 706. In one example, thepressure(s) can be applied when enclosing the insert assembly 1000 inthe nozzle housing. When coupled, the nozzle orifices 714 of the nozzleinsert 708 remain unobstructed such that treatment fluid can passthrough the nozzle orifices. The length and width of the nozzle insert708 are greater than those of the nozzle insert slot 802 such that, whencoupled, the nozzle insert 708 does not pass through the nozzle insertslot 802.

FIG. 10C illustrates an isometric view of the insert assembly 1000 andbottom casing 604 decoupled and FIG. 10D illustrates an isometric viewof the insert assembly 710 and the bottom casing 710 coupled. Again,while not illustrated, the nozzle seal of the insert assembly may bepermanently coupled to the top casing 602. A fluidic coupling from thefill cavity (not shown) through the insert openings 712 is created whenthe bottom casing 604 and insert assembly 1000 are coupled. The fluidiccoupling allows treatment fluid to flow through the insert assembly 1000and bottom casing 604 towards plants in the field. As described above,the insert opening 612 includes a rim for coupling the nozzle insert708, and thereby the insert assembly 1000, to the bottom casing 604. Thedepth of the rim may be equivalent or greater than the height of thenozzle insert 708. By applying pressure at the top portion of the insertassembly 1000 and/or the bottom face of the bottom casing 704, a liquidtight seal forms at the interface between the exterior edges of thenozzle insert 708 and the interior edges of the rim within the bottomcasing 604. When coupled, the nozzle orifices 714 of the nozzle insertremain unobstructed to pass treatment fluid. The length and width of thenozzle insert 708 are greater than those of the rim of the bottom casing604 such that, when coupled, the insert assembly 1000 does not exit thenozzle housing through the insert opening 612.

Configurations of the narrow nozzle 700 can be found in a variety ofsizes, such as, for example, medium or wide nozzles. Between sizes,nozzles may differ in the lengths across the bottom casings. Forexample, a “narrow” nozzle can be approximately 1.25 inches in length, a“medium” nozzle can be approximately 2 inches in length, and a “wide”nozzle can be approximately 5 inches in length, or be any otherappropriate length. In example, herein, FIGS. 7A-10D illustrate examplesof a narrow nozzle 700, FIGS. 11A-11C illustrate examples of a mediumnozzle 1100, and FIG. 12A-15F are examples of a wide nozzle 1200. Inorder to target a greater number of plants or a larger area of fieldwith more control over the flow of treatment fluid, the large and mediumnozzles include additional nozzle orifices compared to smaller nozzles.For example, as illustrated, the narrow nozzle 700 includes four nozzlesholes 714 whereas the medium nozzle 1100 includes 6 nozzle orifices 714,and the wide nozzle 1200 includes 16 nozzle orifices 714.

FIG. 11A is an isometric view of a medium nozzle 1100. The medium nozzle1100 is similar to the narrow nozzle 700. That is, the medium nozzleincludes a top casing 702, a bottom casing 704, a nozzle seal 706, anozzle insert 708, an insert opening 712, and a fluid inlet 606.Treatment fluid enters the fluid inlet 606 and exits the insert opening712 similarly to the narrow nozzle 700. However, the insert opening 712of the medium nozzle 1100 has greater length than the insert opening 612of the narrow nozzle 700, and therefore a longer nozzle insert 708,insert assembly 1000, and a greater number of nozzles holes 714. FIG.11B illustrates an isometric view of the medium nozzle 1100 and FIG. 11Cillustrates an inverted isometric view of the medium nozzle 1100.Compared with similar views of the narrow nozzle 700 (FIG. 6D-6F), thetop casing 602 and bottom casings 604 approximately are 0.75 inchesgreater in length than that of the narrow nozzle 700. While notillustrated, in some embodiments, the nozzle seal may be permanentlycoupled to the top casing.

Notably, both the narrow nozzle 700 and the medium nozzle 1100 includeonly a single nozzle insert with a different number of nozzle orificesand, correspondingly, a single insert opening 612. However, beyond acertain length, larger nozzles can include multiple nozzle inserts 708and insert openings 612 to channel the flow of a larger amount oftreatment fluid. For example, FIG. 12A-12C illustrate a wide nozzle withmultiple nozzle inserts. FIG. 12A illustrates an isometric view of a topcasing 1202 and a bottom casing 1204 of a wide nozzle decoupled from oneanother and FIG. 12B illustrates an isometric view of the same widenozzle with the top casing 1202 coupled to the bottom casing 1204. FIG.12C illustrates a cross-sectional view of the bar wide nozzle 1200without an insert assembly.

The exterior of the top casing 1202 of the wide nozzle 1200 is similarto the top casing 602 of the narrow nozzle 700. As described inreference to the top casing 602 of the narrow nozzle 700, the top casing1202 includes a similarly structured fluid inlet 60446 through whichtreatment fluid enters the nozzle. When coupled, the top casing 1202 andthe bottom casing 1204 create a fluid tight seal at the interfacebetween the two casings and the inserts via the seal when mechanicallycoupled. As with the narrow nozzle 700 and the medium nozzle 1100, thewide nozzle 1200 includes any one of the following materials: plastics,ceramics, or any other overmoldable seal materials.

The exterior of the wide nozzle 1200 includes a latching system 608 forcoupling the top casing 1202 to the bottom casing 1204. The latchingsystem 608 is similar to the latching system 608 as described in regardsto the narrow nozzle 700. That is, the illustrated configurationincludes a latch system 608 in which the top casing 602 includes one ormore ridges along an edge of the top casing 602 and one or more claspsalong an edge of the bottom casing 604. The ridges and clasps areconfigured to couple the top casing to the bottom casing whenmechanically coupled (e.g., pressed/snapped together).

The bottom casing 1204 includes components similar to the bottom casing604 of the narrow nozzle 700 as described above. That is, the top casing1202 couples to the bottom casing 1204 to form a fill cavity 540 insideof the nozzle housing within which an insert assembly can be contained.The four walls surrounding the absent top face of the bottom casing 1204couples to the edges of the bottom face of the top casing 1202. Thebottom face of the bottom casing 1204 includes the insert openings 712.Compared to the bottom casing 604 of the narrow nozzle 700 and mediumnozzle 1100, the wide nozzle 1200 includes multiple insert openings 612.For example, FIGS. 12A-12C include four insert openings but can includeany number of insert openings 612. Each of the insert openings 612 islargely similar to the insert openings 612 as described above. However,in the wide nozzle, each of the insert openings is associated with aseparate nozzle insert 708. FIG. 12C additionally illustrates the flowof treatment fluid through a wide nozzle 1200 without an insert assemblysimilarly to treatment fluid through the nozzle in FIG. 6C.

The top casing 1202 and the bottom casing 1204 of the wide nozzle 1200are fluidically similar to the narrow and medium nozzles in many ways.For example, the wide nozzle includes a fluid inlet 606, an inlet cavity510, a divergence area 608, and a fill cavity 540 similar to the smalland medium nozzles. The fluid inlet 606 is physically coupled to a valveassembly by applying pressure between the nozzle and the manifold toform a fluid tight seal. The fluid inlet 606, the fill cavity 540, andthe insert openings 612 are fluidically coupled such that treatmentfluid can move within the nozzle housing.

The wide nozzle 1200 includes multiple nozzle inserts 708 and,therefore, the insert assembly 1210 for coupling the nozzle inserts 708to the bottom casing is dissimilar the insert assembly of the mediumnozzle 1100 and narrow nozzle 700. FIG. 12D illustrates an isometricview of a wide nozzle 1200 including an insert assembly 1210 withmultiple nozzle inserts 708 and FIG. 12E illustrates a cross-sectionalview with the insert assembly 1210 included. FIG. 12E also illustratesthe flow of treatment fluid through the wide nozzle similarly totreatment fluid through the nozzle 700 in FIG. 7B.

The insert assembly 1210 includes seal bridges 1400 to aid in couplingthe nozzle seal 1300 to the top casing 1202 such that a fluid tight sealbetween the nozzle seal 1300, nozzle inserts 708, and insert openings612 can be created. The seal bridges 1400 are further described inreference to FIG. 14. In the illustrated embodiment, there are threeseal bridges 1400 located between each of the four nozzle insert andeach of the nozzle inserts include four nozzle orifices. However, invarious other embodiments the insert assembly 1210 can include anynumber of seal bridges 1400 and nozzle inserts 708 and can be in anyratio.

In this example of a wide nozzle 1200, treatment fluid passes into thefluid inlet 606 through the inlet cavity 510 and into the divergencearea 608. The fluid spreads in the fill cavity 540 and passes throughthe nozzle seal 1300 and nozzle orifices 704 of the nozzle inserts 708and out of nozzle housing via the insert opening 612. The seal bridges1400 of the insert assembly 1210 of the wide nozzle help facilitatenozzle orifices 714 and nozzle inserts 708 at the ends of the nozzlefunctioning similarly to nozzle inserts 708 and nozzle orifices 714 atthe center of the nozzle.

FIGS. 13A-15F illustrate how the insert assembly 1210 couples to the topand bottom casings 1202 and 1204 and how the constituent components ofthe insert assembly 1210 couple to one another.

FIGS. 13A and 13B, respectively, show an isometric and a side view ofthe nozzle seal 1300. The nozzle seal 1300 is largely similar to thedescription of the nozzle seal of the narrow nozzle 700. However, thenozzle seal 1300 includes multiple nozzle insert slots 802 and sealbridge slots 1302. The nozzle insert slots 802 hold each of the multiplenozzle inserts (not shown) in position with the multiple insert openings712. In this example, the number of nozzle insert slots 802 isequivalent to both the number of insert openings 712 and the number ofnozzle inserts 708. Each of the nozzle insert slots 802 is similar tothe nozzle insert slots described in reference to FIG. 8A-8C. The sealbridge slot helps maintain a constant cross-sectional area of thenozzle. When fabricating the nozzle, the seal bridge slot helps theplastic overmold injection process to yield acceptable parts. Plasticmay not flow correctly during manufacture without them.

Seal bridge slots 1302 are structured such that the nozzle seal(described below) can be coupled to a seal bridge 1400 and,subsequently, to the top casing 602. Additionally, the seal bridge slots1302 are positioned between every two nozzle insert slots 802. A sealbridge slot 1302 is structured as a square through hole extending fromthe top portion 1304 to the bottom portion 1306 of the nozzle seal 1300.At the bottom and top openings, the axes of the seal bridge slots 1302are equal in length contributing to the seal bridge slots resembling asquare.

FIG. 13C illustrates a cross-sectional view of the nozzle seal 1300 thatis largely similar to the cross-sectional view of the nozzle seal 706 ofthe narrow nozzle 700 in FIG. 8C. As described above, the top face of aseal bridge slots 1302 is structured approximately as a square. Thebottom face of the seal bridge slot is structured approximately as asquare that is smaller than the square on the top face. Accordingly, atleast some portion of the through hole connecting the squares onopposing faces of the nozzle seal is slightly tapered.

FIGS. 14A and 14B, respectively, show an isometric and a side view of aseal bridge 1400. A nozzle seal couples the nozzle seal 1300 to the topcasing 1300. Structurally, two edges of the seal bridge 1400 areparallel to the short axis and two edges are parallel to the long axis.The edges parallel to the short axis include indents shaped as asemi-circle and positioned such that the seal bridges 1400 do notobstruct any portion of the nozzle insert slots 802 when the seal bridge1400 is coupled to the nozzle seal 1300. The top face of the seal bridge1400 includes two extruding pins 1410. In this example, the two pins arepositioned opposite one another on the edges parallel to the long axisof the seal bridge 1400. The pins 1410 are for alignment coupling theseal bridge 1400 to the top casing 1202.

The bottom face of the seal bridge 1400, not shown, includes anextrusion substantially similar in shape, length, width, and depth tothe seal bridge slots 1302 of the nozzle seal 1300. The extension is forcoupling the seal bridge 1400 to the seal bridge slot 1302 of the nozzleseal 1300. Functionally, the seal bridges 1400 support the nozzle seal1300 about the fill cavity 540. Absent the nozzle seals holding it inposition, the nozzle seal 1300 may deform and move within the fillcavity affecting the flow of treatment fluid from the fluid inlet to theinsert opening 612.

FIG. 15A illustrates an isometric view of the uncoupled seal bridges1400 and the nozzle seal 1300 of a wide nozzle 1200. FIG. 15Billustrates an isometric view of the seal bridges 1400 coupled to thenozzle seal 1300. Each seal bridge 1400 is coupled to the nozzle seal1300 at a seal bridge slot 1302. In one example, the seal bridges 1400are coupled to the nozzle seal by applying a pressure at the top side ofthe seal bridge 1400 and the bottom side of the nozzle seal 1300. Thecoupling creates a liquid tight seal at the interface between the sealbridge 1400 and the nozzle seal 1300. Specifically, the edges of theextruded square on the bottom side of the seal bridge 1400 come intocontact with the interior edges of the seal bridge slots 1302. Whencoupled, the nozzle seal 1300 and the seal bridge 1400 form a partialinsert assembly 1510.

FIG. 15C illustrates an isometric view of the uncoupled partial insertassembly 1510 and nozzle inserts 708. FIG. 15D illustrates an isometricview of the partial insert assembly 1510 coupled to the nozzle inserts708 to form the insert assembly 1210. In this example, the number ofnozzle inserts 708 is equivalent to the number of nozzle insert slots802 within the nozzle seal 1300. As described in reference to FIG.9A-10C, each nozzle insert 708 couples to a nozzle seal 1300 at each ofthe nozzle insert slots 802. A liquid tight seal forms at the interfacebetween the nozzle inserts 708 and the nozzle insert slots 802. Whencoupled, the nozzle orifices 714 of the nozzle insert 708 areunobstructed by the partial insert assembly 1210. The nozzle inserts 708used in the wide nozzle 1300 are similar to those in narrow nozzle 700and medium nozzle 1100. When coupled, the nozzle insert 708 and thepartial insert assembly 1510 form the complete insert assembly 1210.

In one embodiment, the seal bridge 1400 and the nozzle seal 1300 of theinsert assembly 1210 are permanently coupled to the top casing 1202. Inthis case, only the nozzle insert 708 interchangeable in the nozzle1200. In other examples, any of the other components of the wide nozzle1200 may be permanently coupled and not interchangeable.

To direct the treatment fluid to from the fluid inlet towards the nozzleorifices, the insert assembly 1500 couples to the top casing 1202. FIG.15E illustrates an isometric view of the uncoupled insert assembly 1210and top casing 1202. The bottom side of the top casing 1202 includesnozzle seal receivers 1520 (illustrated as a dashed line). The nozzleseal receivers 1520 are structured such that the top face of the sealbridge 1400 fit within the nozzle seal receivers 1520. The seal bridge1400 couples to the top casing 1202 by when a pressure is applied to thebottom portion of the insert assembly and/or the top side of the topcasing 1202 such that the seal bridges 1400 insert into the nozzle sealreceivers 1520. The receivers, shaped identically to the outline of aseal bridge 1400, also include holes in which the pins 1410 of the sealbridge 1400 insert into the bottom face of the top casing 1202. Thenumber of nozzle seal receivers within the top casing 1202 is equivalentto the number of seal bridges 1400 coupled to the insert assembly 1500.

FIG. 15F illustrates the coupling between the insert assembly 1210 andthe bottom casing 1204. The insert assembly 1500 couples to the bottomcasing 1204 similarly to the insert assembly 1000 and nozzle inserts 708described in reference to FIG. 10C-10D.

FIGS. 16A and 16B, respectively, show side and isometric views of abolted nozzle 1600. FIG. 16C illustrates a cross-sectional view of thebolted nozzle 1600. In this example, the bolts 1610 function similarlyto the latching system 608. That is, the bolts 1610 are used to couplethe top casing 1602 to the bottom casing 1604 such that an insertassembly can be housed within the nozzle. Any size nozzle can includebolts as a latching system.

Structurally, the top casing and the bottom casing resemble those of thenozzles described above with the exception of the bolted systemimplemented in place of the latching system. The bolts penetrate throughthe bottom face of the bottom casing to couple to the adjoining edges ofthe top casing. Depending on the length of the nozzle, a greater orfewer number of bolts may be used to couple the two casings. Orifices,to control spray pattern, are drilled directly into the bottom casing1604. There may be several different configurations of the bottom casingas a function of desired spray pattern.

XI. System Control Architecture

FIG. 17 is a block diagram of a combined system 1700 for capturingimages that can be used to identify unique plant features to be sprayedas the system 100 moves through the field, according to one embodiment.In this example, plant identification device 1702 is either a part of,or is physically connected to the control system 130 of the system 100.One or more cameras 112 of the detection system 110 associated with thedevice 1702 capture images of crops being grown in the field.

Generally, the cameras 112 capture data in a digital format where imagedata is stored at the granularity of pixels or subpixels. The cameras112 are affixed to the device 1702 so as to be relatively close to thecrops themselves when images captured. In one example embodiment, theapproximate distance between the cameras and plants is on the order of1-100 inches, or up to 20 feet, a specific example of which is 34inches. The cameras 112 may include appropriate lenses so that they areeach able to capture light over a very wide angle. This allow a singleimage captured by a camera 112 to capture not only a plant directly infront of the camera 112, but also plants located adjacent to the centerplant along the row the vehicle 120 is traveling, something that wouldnot be possible with a lens with a narrower field of view given theshort distance between the cameras 112 and the crops.

The image capture system 1704 includes logic for communicating with thecamera/s 112 to initiate image capture, receive image data, perform anydesired processing on it, and communicate it to the crop image analysissystem 1708. The image capture system 1704 may be embodied as computerprogram software instructions running on computer hardware (e.g.,processor, memory, etc.) present on device 1702, or it may be dedicatedcomputing hardware (e.g., a field programmable gate array (FPGA))designed to carry out these processes. This hardware may be shared incommon with the positioning system 1706, or it may be dedicated andindependent hardware included in device 1702 to carry out these tasks.

The positioning system 1706 includes logic for determining thereal-world position of the device 1702. This may include globalpositioning, which may, for example, be provided by a global positioningsystem (GPS). Global positioning information includes positioninformation at a first scale, and would inform which field, among many,device 1702 is located in, and a first order approximation of where thedevice 1702 is within the field, such as which row of crops.

The crop image analysis system 1708 receives position and imageinformation from the device 1702, analyses it, and stores it for lateruse depending upon how the information is going to be used. Thepositions of unique plant features identified by the control system 130can be used in a variety of different processes as mentioned above, someof which involve using the analyses provided by the control system 130to carry out some action on device 1702, such as the activation of asprayer via the spray control system 1710.

The spray control system 1710 determines the activation conditions ofsprayers as the system 100 moves through field. Generally, the spraycontrol system sends electrical control signals to the nozzles and valveassemblies to control when the nozzles release treatment fluid. Thespray control system may also be configured to change the orientationand configuration of the manifold assemblies, the manifolds, thecassettes, the nozzles, the spray groups, nozzle subsets, and spraypatterns to spray plant materials with treatment fluid based on theprocesses described above. Further, the spray control system may sendelectrical signals that control the parameters of the spray such asvolume of spray, area of spray, duration of spray, pressure of spray, orany other characteristic of the spray.

Depending upon the implementation, the control system 130 may either bea part of the system 100, such as part of a computer physically mountedwithin the system 100, or it may be a separate computer systemcommunicatively coupled to the system 100, for example via a CAN bus, ashort range wireless network (e.g., Bluetooth), a long range wirelessnetwork (e.g., Wi-Fi), etc.

The control system 130 may be embodied as computer program softwareinstructions running on computer hardware (e.g., processor, memory,etc.) 102 or it may be dedicated computing hardware itself (e.g., afield programmable gate array (FPGA). This hardware may be shared incommon with systems 104 and 106, particularly if they are allco-located, or it may be implemented with its own dedicated andindependent hardware.

XII. Additional Configurations

Most generally, the system 100 allows for spraying liquid onto a plantin a field using an array of N nozzle and valve assemblies (e.g.,sixteen, however, the exact number may vary in practice) spaced adistance apart (e.g., one inch) that precisely target plant materialover a crop's seed line in addition to the space between the adjacentseed lines. This array of nozzles can be grouped into any number sprayergroups and further subdivided into any number of sprayer subsets. Thearray of nozzles and valve assemblies can be coupled into cassettes andis generally called the manifold. The manifold is placed on an implementtowed behind a farming machine such as a tractor. The manifold isoriented such that the line of N sprayers is orthogonal to the directionof travel and parallel to a seed line.

This system 100 can work where the seed lines can be variably spaced,for example anywhere from 8″ rows to 42″ rows. To allow the system tochange between row widths, the manifold is shaped such that adjacentmanifolds can nest for close spacing, or be expanded out for widerspaced seed lines.

The manifold assembly 200 (e.g., as showing in FIGS. 2A-2H) allowsprecision spraying of a plant of any size without affecting neighboringplants or soil. This allows the quantity of chemicals sprayed to bereduced by up to 99% of the quantity used in a traditional broadcastsprayer. The variety of chemicals that can be used in the manifoldapparatus is much greater than traditional broadcast sprayers as themanifold can spray chemicals on a weed right next to a crop plant withminimal effect on the crop. This selective spraying allows for areduction of weeds that build up herbicide resistance yielding a usefullifespan of future crop protectants that can be far longer than whatexists today.

The resolution of the manifold can also be configured based on thenozzle types. Some nozzles can be selected to apply treatment to a widearea (e.g. 5″ by 1″ rectangle) while others may be selected to applytreatment to large circle (e.g. a 4″ diameter circle). An exampleresolution for the smallest target can be as small as a 1 inch by 1 inchsquare, if not smaller. The nozzles can also include replaceable nozzleinserts that allow a single nozzle to have multiple spray patterns

In some embodiments, there can be two different types of treatment fluidused by the system. The system can be configured such that somemanifolds, nozzles, sprayer groups, or nozzle subsets spray onetreatment fluid while other manifolds, nozzles, sprayer groups, ornozzle subsets spray another treatment fluid. The fluidic couplings ofthe system can be configured to accomplish this with components similarto those described herein for each type of treatment fluid.

In some embodiments, the treatment reservoir can be fluidically coupledto the cassettes and valve assemblies such there is a constantcirculation of treatment fluid through the system during operation. Themanifolds and manifold assemblies may include any number of treatmentfeed tubes and pumps coupled to any part of the system to accomplishthis. Constant circulation of treatment fluid through the systemminimizes the risk of valve assemblies and nozzles clogging andincreases the particulate filtration through the system such thatgeneral operation is improved.

The components of the described embodiments of the manifolds, manifoldassemblies, and nozzles have described in specific orientations anddirections for ease of description and clarity. However, one skilled inthe art will note that these orientations and directions can take otherformations such that the functionality of the components is maintained.

In some embodiments, electrical control circuits may be coupled to morethan one valve assembly to control multiple nozzles.

XIII. Additional Considerations

In the description above, for purposes of explanation, numerous specificdetails are set forth in order to provide a thorough understanding ofthe illustrated system and its operations. It will be apparent, however,to one skilled in the art that the system can be operated without thesespecific details. In other instances, structures and devices are shownin block diagram form in order to avoid obscuring the system.

Reference in the specification to “one embodiment” or “an embodiment”means that a particular feature, structure, or characteristic describedin connection with the embodiment is included in at least one embodimentof the system. The appearances of the phrase “in one embodiment” invarious places in the specification are not necessarily all referring tothe same embodiment.

Some portions of the detailed descriptions, like the processes describedin FIGS. 4-5, are presented in terms of algorithms and symbolicrepresentations of operations on data bits within a computer memory. Analgorithm is here, and generally, conceived to be steps leading to adesired result. The steps are those requiring physical transformationsor manipulations of physical quantities. Usually, though notnecessarily, these quantities take the form of electrical or magneticsignals capable of being stored, transferred, combined, compared, andotherwise manipulated. It has proven convenient at times, principallyfor reasons of common usage, to refer to these signals as bits, values,elements, symbols, characters, terms, numbers, or the like.

It should be borne in mind, however, that all of these and similar termsare to be associated with the appropriate physical quantities and aremerely convenient labels applied to these quantities. Unlessspecifically stated otherwise as apparent from the following discussion,it is appreciated that throughout the description, discussions utilizingterms such as “processing” or “computing” or “calculating” or“determining” or “displaying” or the like, refer to the action andprocesses of a computer system, or similar electronic computing device,that manipulates and transforms data represented as physical(electronic) quantities within the computer system's registers andmemories into other data similarly represented as physical quantitieswithin the computer system memories or registers or other suchinformation storage, transmission or display devices.

The operations described herein can be performed by an apparatus. Thisapparatus may be specially constructed for the required purposes, or itmay comprise a general-purpose computer selectively activated orreconfigured by a computer program stored in the computer. Such acomputer program may be stored in a computer readable storage medium,such as, but is not limited to, any type of disk including floppy disks,optical disks, CD-ROMs, and magnetic-optical disks, read-only memories(ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic oroptical cards, solid state memory devices, or any type of media suitablefor storing electronic instructions.

The figures and the description above relate to various embodiments byway of illustration only. It should be noted that from the followingdiscussion, alternative embodiments of the structures and methodsdisclosed herein will be readily recognized as viable alternatives thatmay be employed without departing from the principles of what isclaimed.

One or more embodiments have been described above, examples of which areillustrated in the accompanying figures. It is noted that whereverpracticable similar or like reference numbers may be used in the figuresand may indicate similar or like functionality. The figures depictembodiments of the disclosed system (or method) for purposes ofillustration only. One skilled in the art will readily recognize fromthe following description that alternative embodiments of the structuresand methods illustrated herein may be employed without departing fromthe principles described herein.

Some embodiments may be described using the expression “coupled” and“connected” along with their derivatives. It should be understood thatthese terms are not intended as synonyms for each other. For example,some embodiments may be described using the term “connected” to indicatethat two or more elements are in direct physical or electrical contactwith each other. In another example, some embodiments may be describedusing the term “coupled” to indicate that two or more elements are indirect physical or electrical contact. The term “coupled,” however, mayalso mean that two or more elements are not in direct physical orelectrical contact with each other, but yet still co-operate or interactwith each other. The embodiments are not limited in this context.

Also, some embodiments of the system, like the ones described in FIGS.2-3, may be further divided into logical modules. One of ordinary skillin the art will recognize that a computer or another machine withinstructions to implement the functionality of one or more logicalmodules is not a general purpose computer. Instead, the machine isadapted to implement the functionality of a particular module. Moreover,the machine embodiment of the system physically transforms the electronsrepresenting various parts of content and data representing userinteraction with the content into different content or data representingdetermined resonance.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article or apparatus. Further, unless expressly stated to the contrary,“or” refers to an inclusive or and not to an exclusive or. For example,a condition A or B is satisfied by any one of the following: A is true(or present) and B is false (or not present), A is false (or notpresent) and B is true (or present), and both A and B is true (orpresent).

In addition, use of the “a” or “an” are employed to describe elementsand components of the embodiments herein. This is done merely forconvenience and to give a general sense of the system. This descriptionshould be read to include one or at least one and the singular alsoincludes the plural unless it is obvious that it is meant otherwise.

Upon reading this disclosure, those of skill in the art will appreciatestill additional alternative structural and functional designs for asystem and a process for detecting potential malware using behavioralscanning analysis through the disclosed principles herein. Thus, whileparticular embodiments and applications have been illustrated anddescribed, it is to be understood that the disclosed embodiments are notlimited to the precise construction and components disclosed herein.Various modifications, changes and variations, which will be apparent tothose, skilled in the art, may be made in the arrangement, operation anddetails of the method and apparatus disclosed herein without departingfrom the spirit and scope defined in the appended claims.

What is claimed is:
 1. A nozzle for dispensing a treatment fluid to oneor more plants in a field comprising: a nozzle housing comprising: a topcasing comprising a fluid inlet for treatment fluid to enter the nozzlehousing, and a bottom casing comprising one or more fluid outlets fortreatment fluid to exit the nozzle housing, the bottom casing removablycoupled to the top casing; an insert assembly positioned internal thenozzle housing, the insert assembly comprising one or more nozzleinserts configured to removably couple to the insert assembly, each ofthe one or more nozzle inserts fluidically coupling the fluid inlet andthe one or more fluid outlets such that fluid enters the nozzle throughthe fluid inlet and exits the nozzle through the fluid outlets.
 2. Thenozzle of claim 1, wherein the insert assembly further comprises: anozzle seal coupling the nozzle inserts to the bottom casing; and one ormore seal bridges removably coupling the nozzle seal to the top casing.3. The nozzle of claim 2, wherein the nozzle seal comprises: one or morenozzle insert slots to couple the nozzle inserts to the fluid outlets ofthe bottom casing when the bottom casing is coupled to the top casing.4. The nozzle of claim 2, wherein the nozzle seal is structured tocouple the one or more nozzle inserts to the one or more fluid outletsof the bottom casing, the coupling of the one or nozzle inserts in theone or more fluid outlets forming a liquid tight seal such thattreatment fluid exits the nozzle through the nozzle inserts.
 5. Thenozzle of claim 4, wherein the liquid tight seal is formed by a pressureexerted from the top casing onto the nozzle seal when the top casing iscoupled to the bottom casing, the pressure causing the nozzle insert tocouple to the fluid outlet such that a liquid tight seal is created atthe interface between the nozzle insert and the fluid outlet andtreatment fluid exits the fluid outlet through the nozzle insert.
 6. Thenozzle of claim 2, wherein the nozzle seal comprises one or more of thefollowing: a plastic material; and a ceramic material.
 7. The nozzle ofclaim 2, wherein the nozzle seal comprises: one or more seal bridgeslots structured to couple the nozzle seal to the seal bridges when aseal bridge of the one or more seal bridges is inserted into a sealbridge slot of the one or more seal bridge slots.
 8. The nozzle of claim1, wherein the top casing comprises one or more pin receivers and eachof the one or more seal bridges comprise: one or more pins structured tocouple to the pin receivers of the top casing such that each of the oneor more seal bridges couple the insert assembly to the top casing whenthe pins of each of the one or more seal bridges are inserted into thepin receivers of the top casing.
 9. The nozzle of claim 2, wherein theone or more seal bridges are structured to couple the nozzle seal to thetop casing, the coupling of the nozzle seal to the top casing securing aposition of the nozzle seal within the nozzle housing such that thenozzle seal couples to the nozzle inserts to form the liquid tight seal.10. The nozzle of claim 9, wherein the position of the nozzle seal issecured within the nozzle housing by a pressure exerted by each sealbridge, the pressure causing the seal bridge to couple to the sealbridge slots such that additional liquid tight seals are created at eachof the seal bridge slots.
 11. The nozzle of claim 1, wherein the nozzleinserts comprise: one or more nozzle orifices, the nozzle orificesaligned with the fluid outlets of the bottom casing when the nozzleinserts couple with the bottom casing.
 12. The nozzle of claim 11,wherein the nozzle orifices fluidically couple the fluid inlet to thefluid outlet such fluid entering the nozzle through the fluid inletexits the nozzle from the fluid outlets.
 13. The nozzle of claim 1,wherein the nozzle inserts affect a set of characteristics of thetreatment fluid exiting the nozzle through the fluid outlets, the set ofcharacteristics comprising: a spray pattern of treatment fluid exitingthe nozzle; a droplet size of treatment fluid exiting the nozzle; a flowrate of treatment fluid exiting the nozzle; and an orientation oftreatment fluid exiting the nozzle.
 14. The nozzle of claim 11, whereinthe nozzle orifices comprise one or more sizes, the one or more sizescontrolling the set of characteristics of the treatment fluid.
 15. Thenozzle of claim 1, wherein the nozzle insert comprise one or more of thefollowing: a plastic material; and a ceramic material.
 16. The nozzle ofclaim 1, wherein the insert assembly comprises one or more nozzleinserts, each nozzle insert between 0.5 inches to 2.5 inches in width,the width describing a length over the longest axis of the one or morenozzle inserts.
 17. The nozzle of claim 1, wherein the insert assemblycomprises one or more nozzle inserts positioned between the top casingand the bottom casing, the position of the one or more nozzle insertsaligned with the fluid outlets to form a liquid tight seal such thattreatment fluid flows through the nozzle orifices of the nozzle insertsand exits the fluid outlets of the bottom casing.
 18. The nozzle ofclaim 1, wherein the top casing is structured to couple to the bottomcasing, the top casing and the bottom casing forming a liquid tight sealaround one or more edges of the nozzle housing when coupled such thattreatment fluid enters from the fluid inlet and flows through the fluidoutlet.
 19. The nozzle of claim 1, wherein the top casing is removablycoupled to the bottom casing by one or more of the following: a latchsystem; a lock mechanism; a physical alignment of the top casing withthe bottom casing; a semi-removable seal compliant material; one or morescrews; one or more pins; one or more clamps; and one or more fasteners.20. The nozzle of claim 1, wherein the bottom casing is removablycoupled to the top casing by a latch system, the latch system comprisingone or more ridges along an edge of the top casing and one or moreclasps along an edge of the bottom housing assembly, the one or moreclasps coupled to the one or more ridges when latched.
 21. The nozzle ofclaim 1, wherein the top casing is coupled to the bottom casing by oneor more of the following: a plastic injection molding routine; and aseal compliant material bound to the housing.
 22. The nozzle of claim 1,wherein the fluid inlet of the nozzle is coupled to a valve assembly tocontrol the volume of treatment fluid entering the fluid inlet.
 23. Thenozzle of claim 22, wherein the nozzle is coupled to a manifold assemblyby the valve assembly, the manifold assembly positioned relative to eachof the one or more plants in the field such that treatment fluid exitsthe nozzle housing and sprays the one or more plants.
 24. The nozzle ofclaim 23, wherein the nozzle is coupled to a fluid reservoir by themanifold assembly, the fluid reservoir configured to supply treatmentfluid to the fluid inlet in response to controls from the valveassembly.
 25. The nozzle of claim 1, wherein the nozzle is mounted to asystem comprising a plurality of coaxial wheels, the coaxial wheelsconfigured to navigate the system through the field
 26. The nozzle ofclaim 1, wherein the nozzle comprises one or more types of nozzleinserts, the types of nozzle inserts configured to control a set ofcharacteristics of the treatment fluid exiting the nozzle through thefluid outlets, the set of characteristics comprising:
 27. The nozzle ofclaim 1, wherein the insert assembly comprises a nozzle housing of asize within the range of 0.5 inches to 6 inches in width, the widthdescribing a length over the longest axis of the nozzle housing.